Driving light emissions according to a jitter specification in a laser mapping imaging system

ABSTRACT

Driving an emitter to emit pulses of electromagnetic radiation according to a jitter specification in a laser mapping imaging system is described. A system includes an emitter for emitting pulses of electromagnetic radiation and an image sensor comprising a pixel array for sensing reflected electromagnetic radiation. The system includes a driver for driving emissions by the emitter according to a jitter specification. The system is such that at least a portion of the pulses of electromagnetic radiation emitted by the emitter comprises a laser mapping pattern.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional PatentApplication No. 62/864,256, filed Jun. 20, 2019, titled “SYSTEMS,METHODS, AND DEVICES FOR PROVIDING ILLUMINATION IN AN ENDOSCOPICHYPERSPECTRAL AND FLUORESCENCE IMAGING ENVIRONMENT,” which isincorporated herein by reference in its entirety, including but notlimited to those portions that specifically appear hereinafter, theincorporation by reference being made with the following exception: Inthe event that any portion of the above-referenced provisionalapplication is inconsistent with this application, this applicationsupersedes the above-referenced provisional application.

TECHNICAL FIELD

This disclosure is directed to digital imaging and is particularlydirected to laser mapping imaging in a light deficient environment.

BACKGROUND

Advances in technology have provided advances in imaging capabilitiesfor medical use. An endoscope may be used to look inside a body andexamine the interior of an organ or cavity of the body. Endoscopes areused for investigating a patient's symptoms, confirming a diagnosis, orproviding medical treatment. A medical endoscope may be used for viewinga variety of body systems and parts such as the gastrointestinal tract,the respiratory tract, the urinary tract, the abdominal cavity, and soforth. Endoscopes may further be used for surgical procedures such asplastic surgery procedures, procedures performed on joints or bones,procedures performed on the neurological system, procedures performedwithin the abdominal cavity, and so forth.

In some instances of endoscopic imaging, it may be beneficial ornecessary to view a space in color. A digital color image includes atleast three layers, or “color channels,” that cumulatively form an imagewith a range of hues. Each of the color channels measures the intensityand chrominance of light for a spectral band. Commonly, a digital colorimage includes a color channel for red, green, and blue spectral bandsof light (this may be referred to as a Red Green Blue or RGB image).Each of the red, green, and blue color channels include brightnessinformation for the red, green, or blue spectral band of light. Thebrightness information for the separate red, green, and blue layers arecombined to create the color image. Because a color image is made up ofseparate layers, a conventional digital camera image sensor includes acolor filter array that permits red, green, and blue visible lightwavelengths to hit selected pixel sensors. Each individual pixel sensorelement is made sensitive to red, green, or blue wavelengths and willonly return image data for that wavelength. The image data from thetotal array of pixel sensors is combined to generate the RGB image. Theat least three distinct types of pixel sensors consume significantphysical space such that the complete pixel array cannot fit in thesmall distal end of an endoscope.

Because a traditional image sensor cannot fit in the distal end of anendoscope, the image sensor is traditionally located in a handpiece unitof an endoscope that is held by an endoscope operator and is not placedwithin the body cavity. In such an endoscope, light is transmitted alongthe length of the endoscope from the handpiece unit to the distal end ofthe endoscope. This configuration has significant limitations.Endoscopes with this configuration are delicate and can be easilymisaligned or damaged when bumped or impacted during regular use. Thiscan significantly degrade the quality of the images and necessitate thatthe endoscope be frequently repaired or replaced.

The traditional endoscope with the image sensor placed in the handpieceunit is further limited to capturing only color images. However, in someimplementations, it may be desirable to capture images with lasermapping image data in addition to color image data. Laser mappingimaging can capture the surface shape of objects and landscapes andmeasure distances between objects within a scene. In someimplementations, it may be desirable to measure distances and surfaceshapes within a body cavity during an endoscopic imaging procedure.

However, applications of laser mapping technology known in the arttypically require highly specialized equipment that may not be usefulfor multiple applications. Further, laser mapping technology provides alimited view of an environment and typically must be used in conjunctionwith multiple separate systems. In the context of endoscopic medicalimaging procedures, all sensors must fit within a small physical areawithin a body cavity. In some instances, the geographic area isexceptionally small and may only accommodate a very small tip of anendoscope. As such, medical endoscopes known in the art are necessarilysmall and cannot accommodate multiple distinct imaging and rangingsystems. It is therefore desirable to develop an endoscopic imagingsystem that is capable of generating laser mapping data in a small spacesuch as a body cavity.

In light of the foregoing, described herein are systems, methods, anddevices for laser mapping imaging in a light deficient environment. Suchsystems, methods, and devices may provide multiple datasets foridentifying critical structures in a body and providing precise andvaluable information about a body cavity.

BRIEF DESCRIPTION OF THE DRAWINGS

Non-limiting and non-exhaustive implementations of the disclosure aredescribed with reference to the following figures, wherein likereference numerals refer to like parts throughout the various viewsunless otherwise specified. Advantages of the disclosure will becomebetter understood with regard to the following description andaccompanying drawings where:

FIG. 1 is a schematic view of a system for digital imaging in a lightdeficient environment with a paired emitter and pixel array;

FIG. 2 is a system for providing illumination to a light deficientenvironment for endoscopic imaging;

FIG. 2A is a schematic diagram of complementary system hardware;

FIGS. 3A to 3D are illustrations of the operational cycles of a sensorused to construct an exposure frame;

FIG. 4A is a graphical representation of the operation of an embodimentof an electromagnetic emitter;

FIG. 4B is a graphical representation of varying the duration andmagnitude of the emitted electromagnetic pulse to provide exposurecontrol;

FIG. 5 is a graphical representation of an embodiment of the disclosurecombining the operational cycles of a sensor, the electromagneticemitter, and the emitted electromagnetic pulses of FIGS. 3A-4B, whichdemonstrate the imaging system during operation;

FIG. 6A is a schematic diagram of a process for recording a video withfull spectrum light over a period of time from t(0) to t(1);

FIG. 6B is a schematic diagram of a process for recording a video bypulsing portioned spectrum light over a period of time from t(0) tot(1);

FIGS. 7A-7E illustrate schematic views of the processes over an intervalof time for recording a frame of video for both full spectrum light andpartitioned spectrum light;

FIG. 8 is a graphical display of the delay or jitter between a controlsignal and an emission of electromagnetic radiation by an emitter;

FIG. 9 is a cross-sectional view of an optical fiber bundle comprising acenter fiber and a plurality of surrounding fibers;

FIG. 10 is a graphical display of a top hat profile and a Gaussianprofile for sending electromagnetic radiation to an optical fiberbundle;

FIG. 11 is a side view illustrating the output of electromagneticradiation (light) from an optical fiber bundle in comparison to thefield of view of a camera;

FIG. 12 is a side view illustrating the output of electromagneticradiation from an optical fiber bundle wherein the ends of individualfibers are aimed to provide more uniform distribution of theelectromagnetic radiation;

FIG. 13 is a side view illustrating the output of electromagneticradiation from an optical fiber bundle, wherein the optical fiber bundlecomprises plastic fibers and glass fibers coupled near the output;

FIG. 14 is a side view illustrating the output of electromagneticradiation from an optical fiber bundle comprising a diffuser locatednear the output;

FIG. 15 is a schematic flow chart diagram of a method for driving anemitter to illuminate a scene according to a jitter specification;

FIG. 16 is a schematic flow chart diagram of a method for providingelectromagnetic radiation to an image scene in a light deficientenvironment;

FIGS. 17A-17C illustrate a light source having a plurality of emitters;

FIG. 18 illustrates a single optical fiber outputting via a diffuser atan output to illuminate a scene in a light deficient environment;

FIG. 19 illustrates a portion of the electromagnetic spectrum dividedinto a plurality of different sub-spectrums which may be emitted byemitters of a light source in accordance with the principles andteachings of the disclosure;

FIG. 20 is a schematic diagram illustrating a timing sequence foremission and readout for generating an image frame comprising aplurality of exposure frames resulting from differing partitions ofpulsed light;

FIG. 21 illustrates an imaging system including a single cut filter forfiltering wavelengths of electromagnetic radiation;

FIG. 22 illustrates an imaging system comprising a multiple cut filterfor filtering wavelengths of electromagnetic radiation;

FIG. 23 illustrates an example laser mapping pattern that may be pulsedby an imaging system;

FIGS. 24A and 24B illustrate an implementation having a plurality ofpixel arrays for producing a three-dimensional image in accordance withthe principles and teachings of the disclosure;

FIGS. 25A and 25B illustrate a perspective view and a side view,respectively, of an implementation of an imaging sensor built on aplurality of substrates, wherein a plurality of pixel columns formingthe pixel array are located on the first substrate and a plurality ofcircuit columns are located on a second substrate and showing anelectrical connection and communication between one column of pixels toits associated or corresponding column of circuitry; and

FIGS. 26A and 26B illustrate a perspective view and a side view,respectively, of an implementation of an imaging sensor having aplurality of pixel arrays for producing a three-dimensional image,wherein the plurality of pixel arrays and the image sensor are built ona plurality of substrates.

DETAILED DESCRIPTION

Disclosed herein are systems, methods, and devices for digital imagingthat may be primarily suited to medical applications such as medicalendoscopic imaging. An embodiment of the disclosure is an endoscopicsystem for laser mapping and color imaging in a light deficientenvironment. Such methods, systems, and computer-based productsdisclosed herein provide imaging or diagnostic capabilities for use inmedical robotics applications, such as the use of robotics forperforming imaging procedures, surgical procedures, and the like.

An embodiment of the disclosure is an endoscopic imaging systemcomprising an emitter for emitting pulses of electromagnetic radiationto illuminate a scene. The system comprises a driver for driving theemitter to emit the pulses of electromagnetic radiation according to ajitter specification. Jitter is the deviation from true periodicity of aperiodic signal, such as the periodic pulses of electromagneticradiation emitted by the emitter or the periodic reading out of an imagesensor, as discussed further herein. The jitter period is the intervalbetween two times of maximum effect or minimum effect of a signal thatvaries regularly with time. The jitter frequency is the inverse of thejitter period. When jitter is present in the image systems discussedherein, the jitter causes irregular scene illumination, flickering inresultant video streams, and an overall reduction in image quality. Inlight of the foregoing, disclosed herein are systems, methods, anddevices for driving an emitter to emit pulses of electromagneticradiation according to a jitter specification in a pulsed endoscopicimaging system.

Conventional endoscopes are designed such that the image sensor isplaced at a proximal end of the device within a handpiece unit. Thisconfiguration requires that incident light travel the length of theendoscope by way of precisely coupled optical elements. The preciseoptical elements can easily be misaligned during regular use, and thiscan lead to image distortion or image loss. Embodiments of thedisclosure place an image sensor within the highly space-constrainedenvironment in the distal end of the endoscope itself. This providesgreater optical simplicity when compared with implementations known inthe art. However, an acceptable solution to this approach is by no meanstrivial and introduces its own set of engineering challenges.

There can be a noticeable loss to image quality when the overall size ofan image sensor is minimized such that the image sensor can fit withinthe distal tip of an endoscope. The area of the pixel array of the imagesensor can be reduced by reducing the number of pixels and/or thesensing area of each individual pixel. Each of these modificationsimpacts the resolution, sensitivity, and dynamic range of the resultantimages. Traditional endoscopic imaging systems are geared toward sensingsteady broadband illumination and providing color information by virtueof segmented pixel arrays such as the Bayer pattern array. In light ofthe deficiencies associated with segmented pixel arrays, disclosedherein are alternative systems and methods that use a monochromatic (maybe referred to as “color agnostic”) pixel array that does not includeindividual pixel filters. In the embodiments disclosed herein, the colorinformation is provided by pulsing an emitter with different wavelengthsof electromagnetic radiation. The pulsed imaging system disclosed hereincan generate color images with laser mapping imaging data overlaidthereon.

In an embodiment, the color information is determined by capturingindependent exposure frames in response to pulses of differentwavelengths of electromagnetic radiation. The alternative pulses mayinclude red, green, and blue wavelengths for generating an RGB imageframe consisting of a red exposure frame, a green exposure frame, and ablue exposure frame. In an alternative implementation, the alternativepulses may include luminance (“Y”), red chrominance (“Cr”), and bluechrominance “(Cb”) pulses of light for generating a YCbCr image frameconsisting of luminance data, red chrominance data, and blue chrominancedata. The color image frame may further include data from a lasermapping exposure frame overlaid on the RGB or YCbCr image frame. Thelaser mapping pulse may include one or more pulses for measuringdistances or dimensions within a scene, tracking the presence andlocation of tools in the scene, generating a three-dimensionaltopographical map of the scene, and so forth. Alternating thewavelengths of the pulsed electromagnetic radiation allows the fullpixel array to be exploited and avoids the artifacts introduced by Bayerpattern pixel arrays.

In some instances, it is desirable to generate endoscopic imaging withmultiple data types or multiple images overlaid on one another. Forexample, it may be desirable to generate a color (RGB or YCbCr) imagethat further includes laser mapping imaging data overlaid on the colorimage. An overlaid image of this nature may enable a medicalpractitioner or computer program to identify dimensions and topologiesof a scene based on the laser mapping data. The laser mapping data maybe overlaid on a color image with words, numerals, a topographical map,and so forth. Historically, this would require the use of multiplesensor systems including an image sensor for color imaging and one ormore additional image sensors for laser mapping imaging. In suchsystems, the multiple image sensors would have multiple types of pixelsensors that are each sensitive to distinct ranges of electromagneticradiation. In systems known in the art, this includes the three separatetypes of pixel sensors for generating color image along with additionalpixel sensors for generating the laser mapping image data at differentwavelengths of the electromagnetic spectrum. These multiple differentpixel sensors consume a prohibitively large physical space and cannot belocated at a distal tip of the endoscope. In systems known in the art,the camera or cameras are not placed at the distal tip of the endoscopeand are instead placed in an endoscope handpiece or robotic unit. Thisintroduces numerous disadvantages and causes the endoscope to be verydelicate. The delicate endoscope may be damaged and image quality may bedegraded when the endoscope is bumped or impacted during use.Considering the foregoing, disclosed herein are systems, methods, anddevices for endoscopic imaging in a light deficient environment. Thesystems, methods, and devices disclosed herein provide means foremploying multiple imaging techniques in a single imaging session whilepermitting one or more image sensors to be disposed in a distal tip ofthe endoscope.

Laser Mapping Imaging

In an embodiment, the systems, methods, and devices disclosed hereinprovide means for generating laser mapping data with an endoscopicimaging system. Laser mapping data can be used to determine precisemeasurements and topographical outlines of a scene. In oneimplementation, laser mapping data is used to determine precisemeasurements between, for example, structures or organs in a bodycavity, devices or tools in the body cavity, and/or critical structuresin the body cavity. As discussed herein, the term “laser mapping” mayencompass technologies referred to as laser mapping, laser scanning,topographical scanning, three-dimensional scanning, laser tracking, tooltracking, and others. A laser mapping exposure frame as discussed hereinmay include topographical data for a scene, dimensions between objectsor structures within a scene, dimensions or distances for tools orobjects within a scene, and so forth.

Laser mapping generally includes the controlled deflection of laserbeams. Within the field of three-dimensional object scanning, lasermapping combines controlled steering of laser beams with a laserrangefinder. By taking a distance measurement at every direction, thelaser rangefinder can rapidly capture the surface shape of objects,tools, and landscapes. Construction of a full three-dimensional topologymay include combining multiple surface models that are obtained fromdifferent viewing angles. Various measurement systems and methods existin the art for applications in archaeology, geography, atmosphericphysics, autonomous vehicles, and others. One such system includes lightdetection and ranging (LIDAR), which is a three-dimensional lasermapping system. LIDAR has been applied in navigation systems such asairplanes or satellites to determine position and orientation of asensor in combination with other systems and sensors. LIDAR uses activesensors to illuminate an object and detect energy that is reflected offthe object and back to a sensor.

As discussed herein, the term “laser mapping” includes laser tracking.Laser tracking, or the use of lasers for tool tracking, measures objectsby determining the positions of optical targets held against thoseobjects. Laser trackers can be accurate to the order of 0.025 mm over adistance of several meters. In an embodiment, an endoscopic imagingsystem pulses light for use in conjunction with a laser tracking systemsuch that the position or tools within a scene can be tracked andmeasured. In such an embodiment, the endoscopic imaging system may pulsea laser tracking pattern on a tool, object, or other structure within ascene being imaged by the endoscopic imaging system. A target may beplaced on the tool, object, or other structure within the scene.Measurements between the endoscopic imaging system and the target can betriggered and taken at selected points such that the position of thetarget (and the tool, object, or other structure to which the target isaffixed) can be tracked by the endoscopic imaging system.

Pulsed Imaging

Some implementations of the disclosure include aspects of a combinedsensor and system design that allows for high definition imaging withreduced pixel counts in a controlled illumination environment. This isaccomplished with frame-by-frame pulsing of a single-color wavelengthand switching or alternating each frame between a single, differentcolor wavelength using a controlled light source in conjunction withhigh frame capture rates and a specially designed correspondingmonochromatic sensor. Additionally, electromagnetic radiation outsidethe visible light spectrum may be pulsed to enable the generation of ahyperspectral image. The pixels may be color agnostic such that eachpixel generates data for each pulse of electromagnetic radiation,including pulses for red, green, and blue visible light wavelengthsalong with other wavelengths used for hyperspectral imaging.

A system of the disclosure is an endoscopic imaging system for use in alight deficient environment. The system includes an endoscope comprisingan image sensor, wherein the image sensor is configured to sensereflected electromagnetic radiation for generating a plurality ofexposure frames that can be combined to generate an RGB image frame withhyperspectral data overlaid thereon. The system includes an emitter foremitting pulses of electromagnetic radiation. The system includes acontroller (may alternatively be referred to as a “control circuit” inelectronic communication with the image sensor and the emitter. Thecontroller controls a duty cycle of the emitter in response to signalscorresponding to a duty cycle of the emitter. The image sensor includesbidirectional pads that can send and receive information. Thebidirectional pads of the image sensor operate in a frame period dividedinto three defined states, including a rolling readout state, a serviceline state, and a configuration state. The system includes an oscillatordisposed in the controller and a frequency detector connected to thecontroller. The frequency detector controls a clock frequency of theimage sensor in response to signals from the controller that correspondto the frequency of the oscillator. The system is such that clock signaldata is transmitted from the bidirectional pads of the image sensor tothe controller during the service line phase and the configurationphase. The system is such that exposure frames are synchronized withoutthe use of an input clock or a data transmission clock.

For the purposes of promoting an understanding of the principles inaccordance with the disclosure, reference will now be made to theembodiments illustrated in the drawings and specific language will beused to describe the same. It will nevertheless be understood that nolimitation of the scope of the disclosure is thereby intended. Anyalterations and further modifications of the inventive featuresillustrated herein, and any additional applications of the principles ofthe disclosure as illustrated herein, which would normally occur to oneskilled in the relevant art and having possession of this disclosure,are to be considered within the scope of the disclosure claimed.

Before the structure, systems and methods for producing an image in alight deficient environment are disclosed and described, it is to beunderstood that this disclosure is not limited to the particularstructures, configurations, process steps, and materials disclosedherein as such structures, configurations, process steps, and materialsmay vary somewhat. It is also to be understood that the terminologyemployed herein is used for the purpose of describing particularembodiments only and is not intended to be limiting since the scope ofthe disclosure will be limited only by the appended claims andequivalents thereof.

In describing and claiming the subject matter of the disclosure, thefollowing terminology will be used in accordance with the definitionsset out below.

It must be noted that, as used in this specification and the appendedclaims, the singular forms “a,” “an,” and “the” include plural referentsunless the context clearly dictates otherwise.

As used herein, the terms “comprising,” “including,” “containing,”“characterized by,” and grammatical equivalents thereof are inclusive oropen-ended terms that do not exclude additional, unrecited elements ormethod steps.

As used herein, the phrase “consisting of” and grammatical equivalentsthereof exclude any element or step not specified in the claim.

As used herein, the phrase “consisting essentially of” and grammaticalequivalents thereof limit the scope of a claim to the specifiedmaterials or steps and those that do not materially affect the basic andnovel characteristic or characteristics of the claimed disclosure.

As used herein, the term “proximal” shall refer broadly to the conceptof a portion nearest an origin.

As used herein, the term “distal” shall generally refer to the oppositeof proximal, and thus to the concept of a portion farther from anorigin, or a furthest portion, depending upon the context.

As used herein, color sensors or multi spectrum sensors are thosesensors known to have a color filter array (CFA) thereon to filter theincoming electromagnetic radiation into its separate components. In thevisual range of the electromagnetic spectrum, such a CFA may be built ona Bayer pattern or modification thereon to separate green, red and bluespectrum components of the light.

As used herein, monochromatic sensor refers to an unfiltered imagingsensor. Since the pixels are color agnostic, the effective spatialresolution is appreciably higher than for their color (typicallyBayer-pattern filtered) counterparts in conventional single-sensorcameras. Monochromatic sensors may also have higher quantum efficiencybecause fewer incident photons are wasted between individual pixels.

As used herein, an emitter is a device that is capable of generating andemitting electromagnetic pulses. Various embodiments of emitters may beconfigured to emit pulses and have very specific frequencies or rangesof frequencies from within the entire electromagnetic spectrum. Pulsesmay comprise wavelengths from the visible and non-visible ranges. Anemitter may be cycled on and off to produce a pulse or may produce apulse with a shutter mechanism. An emitter may have variable poweroutput levels or may be controlled with a secondary device such as anaperture or filter. An emitter may emit broad spectrum or full spectrumelectromagnetic radiation that may produce pulses through colorfiltering or shuttering. An emitter may comprise a plurality ofelectromagnetic sources that act individually or in concert.

It should be noted that as used herein the term “light” is both aparticle and a wavelength and is intended to denote electromagneticradiation that is detectable by a pixel array 122 and may includewavelengths from the visible and non-visible spectrums ofelectromagnetic radiation. The term “partition” is used herein to mean apre-determined range of wavelengths of the electromagnetic spectrum thatis less than the entire spectrum, or in other words, wavelengths thatmake up some portion of the electromagnetic spectrum. As used herein, anemitter is a light source that may be controllable as to the portion ofthe electromagnetic spectrum that is emitted or that may operate as tothe physics of its components, the intensity of the emissions, or theduration of the emission, or all the above. An emitter may emit light inany dithered, diffused, or collimated emission and may be controlleddigitally or through analog methods or systems. As used herein, anelectromagnetic emitter is a source of a burst of electromagnetic energyand includes light sources, such as lasers, LEDs, incandescent light, orany light source that can be digitally controlled.

Referring now to the figures, FIG. 1 illustrates a schematic diagram ofa system 100 for sequential pulsed imaging in a light deficientenvironment. The system 100 can be deployed to generate an RGB imagewith laser mapping data overlaid on the RGB image. The system 100includes an emitter 102 and a pixel array 122. The emitter 102 pulses apartition of electromagnetic radiation in the light deficientenvironment 112 and the pixel array 122 senses instances of reflectedelectromagnetic radiation. The emitter 102 and the pixel array 122 workin sequence such that one or more pulses of a partition ofelectromagnetic radiation results in image data sensed by the pixelarray 122.

It should be noted that as used herein the term “light” is both aparticle and a wavelength and is intended to denote electromagneticradiation that is detectable by a pixel array 122 and may includewavelengths from the visible and non-visible spectrums ofelectromagnetic radiation. The term “partition” is used herein to mean apre-determined range of wavelengths of the electromagnetic spectrum thatis less than the entire spectrum, or in other words, wavelengths thatmake up some portion of the electromagnetic spectrum. As used herein, anemitter is a light source that may be controllable as to the portion ofthe electromagnetic spectrum that is emitted or that may operate as tothe physics of its components, the intensity of the emissions, or theduration of the emission, or all the above. An emitter may emit light inany dithered, diffused, or collimated emission and may be controlleddigitally or through analog methods or systems. As used herein, anelectromagnetic emitter is a source of a burst of electromagnetic energyand includes light sources, such as lasers, LEDs, incandescent light, orany light source that can be digitally controlled.

A pixel array 122 of an image sensor may be paired with the emitter 102electronically, such that the emitter 102 and the pixel array 122 aresynced during operation for both receiving the emissions and for theadjustments made within the system. The emitter 102 may be tuned to emitelectromagnetic radiation in the form of a laser, which may be pulsed toilluminate a light deficient environment 112. The emitter 102 may pulseat an interval that corresponds to the operation and functionality ofthe pixel array 122. The emitter 102 may pulse light in a plurality ofelectromagnetic partitions such that the pixel array receiveselectromagnetic energy and produces a dataset that corresponds in timewith each specific electromagnetic partition. For example, FIG. 1illustrates an implementation wherein the emitter 102 emits fourdifferent partitions of electromagnetic radiation, including red 104,green 106, blue 108 wavelengths, and a laser mapping 110 pulsing scheme.The laser mapping 110 pulsing scheme may include a grid pattern foridentifying a topology 120 of a scene in the light deficient environment112 and further for measuring dimensions and distances within the scene.The laser mapping 110 pulsing scheme is any suitable pulsing scheme orpattern that may be used for generating laser mapping image data. Thelaser mapping imaging data includes data generated by technologies knownas laser mapping, laser scanning, topographical scanning,three-dimensional scanning, laser tracking, tool tracking, and others.

In an alternative embodiment not illustrated in FIG. 1, the pulsedemissions of light include a luminance (“Y”) emission, a red chrominance(“Cr”) emission, and a blue chrominance (“Cb”) emission in place of thepulsed red 104, pulsed green 106, and pulsed blue 108 emissions. In anembodiment, the controller or the emitter 102 modules the pulses ofelectromagnetic radiation to provide luminance and/or chrominanceinformation according to color transformation coefficients that convertlight energy from red, green, and blue light energy spaces to luminance,red chrominance, and blue chrominance light energy space. The pulsedemissions of light may further include modulated blue chrominance(“λY+Cb”) pulses and/or modulated red chrominance (“δY+Cr”) pulses.

The light deficient environment 112 includes structures, tissues, andother elements that reflect a combination of red 114, green 116, and/orblue 118 light. A structure that is perceived as being red 114 willreflect back pulsed red 104 light. The reflection off the red structureresults in sensed red 105 by the pixel array 122 following the pulsedred 104 emission. The data sensed by the pixel array 122 results in ared exposure frame. A structure that is perceived as being green 116will reflect back pulsed green 106 light. The reflection off the greenstructure results in sensed green 107 by the pixel array 122 followingthe pulsed green 106 emission. The data sensed by the pixel array 122results in a green exposure frame. A structure that is perceived asbeing blue 118 will reflect back pulsed blue 108 light. The reflectionoff the blue structure results in sensed blue 109 by the pixel array 122following the pulsed blue 108 emission. The data sensed by the pixelarray 122 results in a blue exposure frame.

When a structure is a combination of colors, the structure will reflectback a combination of the pulsed red 104, pulsed green 106, and/orpulsed blue 108 emissions. For example, a structure that is perceived asbeing purple will reflect back light from the pulsed red 104 and pulsedblue 108 emissions. The resulting data sensed by the pixel array 122will indicate that light was reflected in the same region following thepulsed red 104 and pulsed blue 108 emissions. When the resultant redexposure frame and blue exposure frames are combined to form the RGBimage frame, the RGB image frame will indicate that the structure ispurple.

In an embodiment where the light deficient environment 112 includes afluorescent reagent or dye or includes one or more fluorescentstructures, tissues, or other elements, the pulsing scheme may includethe emission of a certain fluorescence excitation wavelength. Thecertain fluorescence excitation wavelength may be selected to fluorescea known fluorescent reagent, dye, or other structure. The fluorescentstructure will be sensitive to the fluorescence excitation wavelengthand will emit a fluorescence relaxation wavelength. The fluorescencerelaxation wavelength will be sensed by the pixel array 122 followingthe emission of the fluorescence excitation wavelength. The data sensedby the pixel array 122 results in a fluorescence exposure frame. Thefluorescence exposure frame may be combined with multiple other exposureframes to form an image frame. The data in the fluorescence exposureframe may be overlaid on an RGB image frame that includes data from ared exposure frame, a green exposure frame, and a blue exposure frame.

In an embodiment where the light deficient environment 112 includesstructures, tissues, or other materials that emit a spectral response tocertain partitions of the electromagnetic spectrum, the pulsing schememay further include the emission of a hyperspectral partition ofelectromagnetic radiation for the purpose of eliciting the spectralresponse from the structures, tissues, or other materials present in thelight deficient environment 112. The spectral response includes theemission or reflection of certain wavelengths of electromagneticradiation. The spectral response can be sensed by the pixel array 122and result in a hyperspectral exposure frame. The hyperspectral exposureframe may be combined with multiple other exposure frames to form animage frame. The data in the hyperspectral exposure frame may beoverlaid on an RGB image frame that includes data from a red exposureframe, a green exposure frame, and a blue exposure frame.

In an embodiment, the pulsing scheme includes the emission of a lasermapping 110 pattern. The reflected electromagnetic radiation sensed bythe pixel array 122 following the emission of the laser mapping 110pattern results in a laser mapping exposure frame that includes thesensed laser mapping 111 data. The data in the laser mapping exposureframe may be provided to a corresponding system to identify, forexample, distances between tools present in the light deficientenvironment 112, a three-dimensional surface topology of a scene in thelight deficient environment 112, distances, dimensions, or positions ofstructures or objects within the scene, distances dimensions, orpositions of tools within the scene, and so forth. This data may beoverlaid on an RGB image frame or otherwise provided to a user of thesystem.

The emitter 102 may be a laser emitter that is capable of emittingpulsed red 104 light for generating sensed red 105 data for identifyingred 114 elements within the light deficient environment 112. The emitter102 is further capable of emitting pulsed green 106 light for generatingsensed green 107 data for identifying green 116 elements within thelight deficient environment. The emitter 102 is further capable ofemitting pulsed blue 108 light for generating sensed blue 109 data foridentifying blue 118 elements within the light deficient environment.The emitter 102 is further capable of emitting a laser mapping 110pulsing scheme for mapping the topology 120 of a scene within the lightdeficient environment 112. The emitter 102 is capable of emitting thepulsed red 104, pulsed green 106, pulsed blue 108, and pulsed lasermapping 110 pulsing schemes in any desired sequence.

The pixel array 122 senses reflected electromagnetic radiation. Each ofthe sensed red 105, the sensed green 107, the sensed blue 109, and thesensed laser mapping 111 data can be referred to as an “exposure frame.”Each exposure frame is assigned a specific color or wavelengthpartition, wherein the assignment is based on the timing of the pulsedcolor or wavelength partition from the emitter 102. The exposure framein combination with the assigned specific color or wavelength partitionmay be referred to as a dataset. Even though the pixels 122 are notcolor-dedicated, they can be assigned a color for any given datasetbased on a priori information about the emitter.

For example, during operation, after pulsed red 104 light is pulsed inthe light deficient environment 112, the pixel array 122 sensesreflected electromagnetic radiation. The reflected electromagneticradiation results in an exposure frame, and the exposure frame iscatalogued as sensed red 105 data because it corresponds in time withthe pulsed red 104 light. The exposure frame in combination with anindication that it corresponds in time with the pulsed red 104 light isthe “dataset.” This is repeated for each partition of electromagneticradiation emitted by the emitter 102. The data created by the pixelarray 122 includes the sensed red 105 exposure frame identifying red 114components in the light deficient environment and corresponding in timewith the pulsed red 104 light. The data further includes the sensedgreen 107 exposure frame identifying green 116 components in the lightdeficient environment and corresponding in time with the pulsed green106 light. The data further includes the sensed blue 109 exposure frameidentifying blue 118 components in the light deficient environment andcorresponding in time with the pulsed blue 108 light. The data furtherincludes the sensed laser mapping 111 exposure frame identifying thetopology 120 and corresponding in time with the laser mapping 110pulsing scheme.

In one embodiment, three datasets representing RED, GREEN and BLUEelectromagnetic pulses are combined to form a single image frame. Thus,the information in a red exposure frame, a green exposure frame, and ablue exposure frame are combined to form a single RGB image frame. Oneor more additional datasets representing other wavelength partitions maybe overlaid on the single RGB image frame. The one or more additionaldatasets may represent, for example, the laser mapping data,fluorescence imaging data, and/or hyperspectral imaging data.

It will be appreciated that the disclosure is not limited to anyparticular color combination or any particular electromagneticpartition, and that any color combination or any electromagneticpartition may be used in place of RED, GREEN and BLUE, such as Cyan,Magenta and Yellow; Ultraviolet; infrared; any combination of theforegoing, or any other color combination, including all visible andnon-visible wavelengths, without departing from the scope of thedisclosure. In the figure, the light deficient environment 112 to beimaged includes red 114, green 116, and blue 118 portions, and furtherincludes a topology 120 that can be sensed and mapped into athree-dimensional rendering. As illustrated in the figure, the reflectedlight from the electromagnetic pulses only contains the data for theportion of the object having the specific color that corresponds to thepulsed color partition. Those separate color (or color interval)datasets can then be used to reconstruct the image by combining thedatasets at 126. The information in each of the multiple exposure frames(i.e., the multiple datasets) may be combined by a controller 124, acontrol unit, a camera control unit, the image sensor, an image signalprocessing pipeline, or some other computing resource that isconfigurable to process the multiple exposure frames and combine thedatasets at 126. The datasets may be combined to generate the singleimage frame within the endoscope unit itself or offsite by some otherprocessing resource.

FIG. 2 is a system 200 for providing illumination to a light deficientenvironment, such as for endoscopic imaging. The system 200 may be usedin combination with any of the systems, methods, or devices disclosedherein. The system 200 includes an emitter 202, a controller 204, ajumper waveguide 206, a waveguide connector 208, a lumen waveguide 210,a lumen 212, and an image sensor 214 with accompanying opticalcomponents (such as a lens). The emitter 202 (may be genericallyreferred to as a “light source”) generates light that travels throughthe jumper waveguide 206 and the lumen waveguide 210 to illuminate ascene at a distal end of the lumen 212. The emitter 202 may be used toemit any wavelength of electromagnetic energy including visiblewavelengths, infrared, ultraviolet, hyperspectral, fluorescenceexcitation, or other wavelengths. The lumen 212 may be inserted into apatient's body for imaging, such as during a procedure or examination.The light is output as illustrated by dashed lines 216. A sceneilluminated by the light may be captured using the image sensor 214 anddisplayed for a doctor or some other medical personnel. The controller204 may provide control signals to the emitter 202 to control whenillumination is provided to a scene. In one embodiment, the emitter 202and controller 204 are located within a camera control unit (CCU) orexternal console to which an endoscope is connected. If the image sensor214 includes a CMOS sensor, light may be periodically provided to thescene in a series of illumination pulses between readout periods of theimage sensor 214 during what is known as a blanking period. Thus, thelight may be pulsed in a controlled manner to avoid overlapping intoreadout periods of the image pixels in a pixel array of the image sensor214.

In one embodiment, the lumen waveguide 210 includes one or more opticalfibers. The optical fibers may be made of a low-cost material, such asplastic to allow for disposal of the lumen waveguide 210 and/or otherportions of an endoscope. In one embodiment, the lumen waveguide 210 isa single glass fiber having a diameter of 500 microns. The jumperwaveguide 206 may be permanently attached to the emitter 202. Forexample, a jumper waveguide 206 may receive light from an emitter withinthe emitter 202 and provide that light to the lumen waveguide 210 at thelocation of the connector 208. In one embodiment, the jumper waveguide106 includes one or more glass fibers. The jumper waveguide may includeany other type of waveguide for guiding light to the lumen waveguide210. The connector 208 may selectively couple the jumper waveguide 206to the lumen waveguide 210 and allow light within the jumper waveguide206 to pass to the lumen waveguide 210. In one embodiment, the lumenwaveguide 210 is directly coupled to a light source without anyintervening jumper waveguide 206.

The image sensor 214 includes a pixel array. In an embodiment, the imagesensor 214 includes two or more pixel arrays for generating athree-dimensional image. The image sensor 214 may constitute two moreimage sensors that each have an independent pixel array and can operateindependent of one another. The pixel array of the image sensor 214includes active pixels and optical black (“OB”) or optically blindpixels. The active pixels may be clear “color agnostic” pixels that arecapable of sensing imaging data for any wavelength of electromagneticradiation. The optical black pixels are read during a blanking period ofthe pixel array when the pixel array is “reset” or calibrated. In anembodiment, light is pulsed during the blanking period of the pixelarray when the optical black pixels are being read. After the opticalblack pixels have been read, the active pixels are read during a readoutperiod of the pixel array. The active pixels may be charged by theelectromagnetic radiation that is pulsed during the blanking period suchthat the active pixels are ready to be read by the image sensor duringthe readout period of the pixel array.

FIG. 2A is a schematic diagram of complementary system hardware such asa special purpose or general-purpose computer. Implementations withinthe scope of the present disclosure may also include physical and othernon-transitory computer readable media for carrying or storing computerexecutable instructions and/or data structures. Such computer readablemedia can be any available media that can be accessed by a generalpurpose or special purpose computer system. Computer readable media thatstores computer executable instructions are computer storage media(devices). Computer readable media that carry computer executableinstructions are transmission media. Thus, by way of example, and notlimitation, implementations of the disclosure can comprise at least twodistinctly different kinds of computer readable media: computer storagemedia (devices) and transmission media.

Computer storage media (devices) includes RAM, ROM, EEPROM, CD-ROM,solid state drives (“SSDs”) (e.g., based on RAM), Flash memory,phase-change memory (“PCM”), other types of memory, other optical diskstorage, magnetic disk storage or other magnetic storage devices, or anyother medium which can be used to store desired program code means inthe form of computer executable instructions or data structures andwhich can be accessed by a general purpose or special purpose computer.

A “network” is defined as one or more data links that enable thetransport of electronic data between computer systems and/or modulesand/or other electronic devices. In an implementation, a sensor andcamera control unit may be networked to communicate with each other, andother components, connected over the network to which they areconnected. When information is transferred or provided over a network oranother communications connection (either hardwired, wireless, or acombination of hardwired or wireless) to a computer, the computerproperly views the connection as a transmission medium. Transmissionsmedia can include a network and/or data links, which can be used tocarry desired program code means in the form of computer executableinstructions or data structures and which can be accessed by a generalpurpose or special purpose computer. Combinations of the above shouldalso be included within the scope of computer readable media.

Further, upon reaching various computer system components, program codemeans in the form of computer executable instructions or data structuresthat can be transferred automatically from transmission media tocomputer storage media (devices) (or vice versa). For example, computerexecutable instructions or data structures received over a network ordata link can be buffered in RAM within a network interface module(e.g., a “NIC”), and then eventually transferred to computer system RAMand/or to less volatile computer storage media (devices) at a computersystem. RAM can also include solid state drives (SSDs or PCIx based realtime memory tiered storage, such as FusionIO). Thus, it should beunderstood that computer storage media (devices) can be included incomputer system components that also (or even primarily) utilizetransmission media.

Computer executable instructions comprise, for example, instructions anddata which, when executed by one or more processors, cause ageneral-purpose computer, special purpose computer, or special purposeprocessing device to perform a certain function or group of functions.The computer executable instructions may be, for example, binaries,intermediate format instructions such as assembly language, or evensource code. Although the subject matter has been described in languagespecific to structural features and/or methodological acts, it is to beunderstood that the subject matter defined in the appended claims is notnecessarily limited to the described features or acts described above.Rather, the described features and acts are disclosed as example formsof implementing the claims.

Those skilled in the art will appreciate that the disclosure may bepracticed in network computing environments with many types of computersystem configurations, including, personal computers, desktop computers,laptop computers, message processors, control units, camera controlunits, hand-held devices, hand pieces, multi-processor systems,microprocessor-based or programmable consumer electronics, network PCs,minicomputers, mainframe computers, mobile telephones, PDAs, tablets,pagers, routers, switches, various storage devices, and the like. Itshould be noted that any of the above-mentioned computing devices may beprovided by or located within a brick and mortar location. Thedisclosure may also be practiced in distributed system environmentswhere local and remote computer systems, which are linked (either byhardwired data links, wireless data links, or by a combination ofhardwired and wireless data links) through a network, both performtasks. In a distributed system environment, program modules may belocated in both local and remote memory storage devices.

Further, where appropriate, functions described herein can be performedin one or more of: hardware, software, firmware, digital components, oranalog components. For example, one or more application specificintegrated circuits (ASICs) or field programmable gate arrays (FPGAs)can be programmed to carry out one or more of the systems and proceduresdescribed herein. Certain terms are used throughout the followingdescription and Claims to refer to particular system components. As oneskilled in the art will appreciate, components may be referred to bydifferent names. This document does not intend to distinguish betweencomponents that differ in name, but not function.

FIG. 2A is a block diagram illustrating an example computing device 250.Computing device 250 may be used to perform various procedures, such asthose discussed herein. Computing device 250 can function as a server, aclient, or any other computing entity. Computing device 250 can performvarious monitoring functions as discussed herein, and can execute one ormore application programs, such as the application programs describedherein. Computing device 250 can be any of a wide variety of computingdevices, such as a desktop computer, a notebook computer, a servercomputer, a handheld computer, camera control unit, tablet computer andthe like.

Computing device 250 includes one or more processor(s) 252, one or morememory device(s) 254, one or more interface(s) 256, one or more massstorage device(s) 258, one or more Input/Output (I/O) device(s) 260, anda display device 280 all of which are coupled to a bus 262. Processor(s)252 include one or more processors or controllers that executeinstructions stored in memory device(s) 254 and/or mass storagedevice(s) 258. Processor(s) 252 may also include various types ofcomputer readable media, such as cache memory.

Memory device(s) 254 include various computer readable media, such asvolatile memory (e.g., random access memory (RAM) 264) and/ornonvolatile memory (e.g., read-only memory (ROM) 266). Memory device(s)254 may also include rewritable ROM, such as Flash memory.

Mass storage device(s) 258 include various computer readable media, suchas magnetic tapes, magnetic disks, optical disks, solid-state memory(e.g., Flash memory), and so forth. As shown in FIG. 2, a particularmass storage device is a hard disk drive 274. Various drives may also beincluded in mass storage device(s) 258 to enable reading from and/orwriting to the various computer readable media. Mass storage device(s)258 include removable media 276 and/or non-removable media.

I/O device(s) 260 include various devices that allow data and/or otherinformation to be input to or retrieved from computing device 250.Example I/O device(s) 260 include digital imaging devices,electromagnetic sensors and emitters, cursor control devices, keyboards,keypads, microphones, monitors or other display devices, speakers,printers, network interface cards, modems, lenses, CCDs or other imagecapture devices, and the like.

Display device 280 includes any type of device capable of displayinginformation to one or more users of computing device 250. Examples ofdisplay device 280 include a monitor, display terminal, video projectiondevice, and the like.

Interface(s) 256 include various interfaces that allow computing device250 to interact with other systems, devices, or computing environments.Example interface(s) 256 may include any number of different networkinterfaces 270, such as interfaces to local area networks (LANs), widearea networks (WANs), wireless networks, and the Internet. Otherinterface(s) include user interface 268 and peripheral device interface272. The interface(s) 256 may also include one or more user interfaceelements 268. The interface(s) 256 may also include one or moreperipheral interfaces such as interfaces for printers, pointing devices(mice, track pad, etc.), keyboards, and the like.

Bus 262 allows processor(s) 252, memory device(s) 254, interface(s) 256,mass storage device(s) 258, and I/O device(s) 260 to communicate withone another, as well as other devices or components coupled to bus 262.Bus 262 represents one or more of several types of bus structures, suchas a system bus, PCI bus, IEEE 1394 bus, USB bus, and so forth.

For purposes of illustration, programs and other executable programcomponents are shown herein as discrete blocks, although it isunderstood that such programs and components may reside at various timesin different storage components of computing device 250 and are executedby processor(s) 252. Alternatively, the systems and procedures describedherein can be implemented in hardware, or a combination of hardware,software, and/or firmware. For example, one or more application specificintegrated circuits (ASICs) or field programmable gate arrays (FPGAs)can be programmed to carry out one or more of the systems and proceduresdescribed herein.

FIG. 3A illustrates the operational cycles of a sensor used in rollingreadout mode or during the sensor readout 300. The frame readout maystart at and may be represented by vertical line 310. The read-outperiod is represented by the diagonal or slanted line 302. The activepixels of the pixel array of the image sensor may be read out on a rowby row basis, the top of the downwards slanted edge being the sensor toprow 312 and the bottom of the downwards slanted edge being the sensorbottom row 314. The time between the last row readout and the nextreadout cycle may be called the blanking period 316. It should be notedthat some of the sensor pixel rows might be covered with a light shield(e.g., a metal coating or any other substantially black layer of anothermaterial type). These covered pixel rows may be referred to as opticalblack rows 318 and 320. Optical black rows 318 and 320 may be used asinput for correction algorithms. As shown in FIG. 3A, these opticalblack rows 318 and 320 may be located on the top of the pixel array orat the bottom of the pixel array or at the top and the bottom of thepixel array.

FIG. 3B illustrates a process of controlling the amount ofelectromagnetic radiation, e.g., light, that is exposed to a pixel,thereby integrated or accumulated by the pixel. It will be appreciatedthat photons are elementary particles of electromagnetic radiation.Photons are integrated, absorbed, or accumulated by each pixel andconverted into an electrical charge or current. An electronic shutter orrolling shutter (shown by dashed line 322) may be used to start theintegration time by resetting the pixel. The light will then integrateuntil the next readout phase. The position of the electronic shutter 322can be moved between two readout cycles 302 to control the pixelsaturation for a given amount of light. It should be noted that thistechnique allows for a constant integration time between two differentlines but introduces a delay when moving from top to bottom rows.

FIG. 3C illustrates the case where the electronic shutter 322 has beenremoved. In this configuration, the integration of the incoming lightmay start during readout 302 and may end at the next readout cycle 302,which also defines the start of the next integration.

FIG. 3D shows a configuration without an electronic shutter 322, butwith a controlled and pulsed light 330 during the blanking period 316.This ensures that all rows see the same light issued from the same lightpulse 330. In other words, each row will start its integration in a darkenvironment, which may be at the optical black back row 320 of read outframe (m) for a maximum light pulse width, and will then receive a lightstrobe and will end its integration in a dark environment, which may beat the optical black front row 318 of the next succeeding read out frame(m+1) for a maximum light pulse width. In the FIG. 3D example, the imagegenerated from the light pulse will be solely available during frame(m+1) readout without any interference with frames (m) and (m+2). Itshould be noted that the condition to have a light pulse to be read outonly in one frame and not interfere with neighboring frames is to havethe given light pulse firing during the blanking period 316. Because theoptical black rows 318, 320 are insensitive to light, the optical blackback rows 320 time of frame (m) and the optical black front rows 318time of frame (m+1) can be added to the blanking period 316 to determinethe maximum range of the firing time of the light pulse 330.

As illustrated in the FIG. 3A, a sensor may be cycled many times toreceive data for each pulsed color or wavelength (e.g., Red, Green,Blue, or other wavelength on the electromagnetic spectrum). Each cyclemay be timed. In an embodiment, the cycles may be timed to operatewithin an interval of 16.67 ms. In another embodiment, the cycles may betimed to operate within an interval of 8.3 ms. It will be appreciatedthat other timing intervals are contemplated by the disclosure and areintended to fall within the scope of this disclosure.

FIG. 4A graphically illustrates the operation of an embodiment of anelectromagnetic emitter. An emitter may be timed to correspond with thecycles of a sensor, such that electromagnetic radiation is emittedwithin the sensor operation cycle and/or during a portion of the sensoroperation cycle. FIG. 4A illustrates Pulse 1 at 402, Pulse 2 at 404, andPulse 3 at 406. In an embodiment, the emitter may pulse during thereadout period 302 of the sensor operation cycle. In an embodiment, theemitter may pulse during the blanking portion 316 of the sensoroperation cycle. In an embodiment, the emitter may pulse for a durationthat is during portions of two or more sensor operational cycles. In anembodiment, the emitter may begin a pulse during the blanking portion316, or during the optical black portion 320 of the readout period 302,and end the pulse during the readout period 302, or during the opticalblack portion 318 of the readout period 302 of the next succeedingcycle. It will be understood that any combination of the above isintended to fall within the scope of this disclosure as long as thepulse of the emitter and the cycle of the sensor correspond.

FIG. 4B graphically represents varying the duration and magnitude of theemitted electromagnetic pulse (e.g., Pulse 1 at 412, Pulse 2 at 414, andPulse 3 at 416) to control exposure. An emitter having a fixed outputmagnitude may be pulsed during any of the cycles noted above in relationto FIGS. 3D and 4A for an interval to provide the needed electromagneticenergy to the pixel array. An emitter having a fixed output magnitudemay be pulsed at a longer interval of time, thereby providing moreelectromagnetic energy to the pixels or the emitter may be pulsed at ashorter interval of time, thereby providing less electromagnetic energy.Whether a longer or shorter interval time is needed depends upon theoperational conditions.

In contrast to adjusting the interval of time the emitter pulses a fixedoutput magnitude, the magnitude of the emission itself may be increasedto provide more electromagnetic energy to the pixels. Similarly,decreasing the magnitude of the pulse provides less electromagneticenergy to the pixels. It should be noted that an embodiment of thesystem may have the ability to adjust both magnitude and durationconcurrently, if desired. Additionally, the sensor may be adjusted toincrease its sensitivity and duration as desired for optimal imagequality. FIG. 4B illustrates varying the magnitude and duration of thepulses. In the illustration, Pulse 1 at 412 has a higher magnitude orintensity than either Pulse 2 at 414 or Pulse 3 at 416. Additionally,Pulse 1 at 412 has a shorter duration than Pulse 2 at 414 or Pulse 3 at416, such that the electromagnetic energy provided by the pulse isillustrated by the area under the pulse shown in the illustration. Inthe illustration, Pulse 2 at 414 has a relatively low magnitude orintensity and a longer duration when compared to either Pulse 1 at 412or Pulse 3 at 416. Finally, in the illustration, Pulse 3 at 416 has anintermediate magnitude or intensity and duration, when compared to Pulse1 at 412 and Pulse 2 at 414.

FIG. 5 is a graphical representation of an embodiment of the disclosurecombining the operational cycles, the electromagnetic emitter, and theemitted electromagnetic pulses of FIGS. 3A-3D and 4A to demonstrate theimaging system during operation in accordance with the principles andteachings of the disclosure. As can be seen in the figure, theelectromagnetic emitter pulses the emissions primarily during theblanking period 316 of the image sensor such that the pixels will becharged and ready to read during the readout period 302 of the imagesensor cycle. The dashed lines in FIG. 5 represent the pulses ofelectromagnetic radiation (from FIG. 4A). The pulses of electromagneticradiation are primarily emitted during the blanking period 316 of theimage sensor but may overlap with the readout period 302 of the imagesensor.

An exposure frame includes the data read by the pixel array of the imagesensor during a readout period 302. The exposure frame may be combinedwith an indication of what type of pulse was emitted by the emitterprior to the readout period 302. The combination of the exposure frameand the indication of the pulse type may be referred to as a dataset.Multiple exposure frames may be combined to generate a black-and-whiteor RGB color image. Additionally, hyperspectral, fluorescence, and/orlaser mapping imaging data may be overlaid on a black-and-white or RGBimage.

In an embodiment, an exposure frame is the data sensed by the pixelarray during the readout period 302 that occurs subsequent to a blankingperiod 316. The emission of electromagnetic radiation is emitted duringthe blanking period 316. In an embodiment, a portion of the emission ofelectromagnetic radiation overlaps the readout period 316. The blankingperiod 316 occurs when optical black pixels of the pixel array are beingread and the readout period 302 occurs when active pixels of the pixelarray are being read. The blanking period 316 may overlap the readoutperiod 302.

FIGS. 6A and 6B illustrate processes for recording an image frame.Multiple image frames may be strung together to generate a video stream.A single image frame may include data from multiple exposure frames,wherein an exposure frame is the data sensed by a pixel array subsequentto an emission of electromagnetic radiation. FIG. 6A illustrates atraditional process that is typically implemented with a color imagesensor having a color filter array (CFA) for filtering out certainwavelengths of light per pixel. FIG. 6B is a process that is disclosedherein and can be implemented with a monochromatic “color agnostic”image sensor that is receptive to all wavelengths of electromagneticradiation.

The process illustrated in FIG. 6A occurs from time t(0) to time t(1).The process begins with a white light emission 602 and sensing whitelight 604. The image is processed and displayed at 606 based on thesensing at 604.

The process illustrated in FIG. 6B occurs from time t(0) to time t(1).The process begins with an emission of green light 612 and sensingreflected electromagnetic radiation 614 subsequent to the emission ofgreen light 612. The process continues with an emission of red light 616and sensing reflected electromagnetic radiation 618 subsequent to theemission of red light 616. The process continues with an emission ofblue light 620 and sensing reflected electromagnetic radiation 622subsequent to the emission of blue light 620. The process continues withone or more emissions of a laser mapping 624 pulsing scheme and sensingreflected electromagnetic energy 626 subsequent to each of the one ormore emissions of the laser mapping 624 pulsing scheme. The image isprocessed and displayed at 628 based on each of the sensed reflectedelectromagnetic energy instances 614, 618, 622, and 626.

The process illustrated in FIG. 6B provides a higher resolution imageand provides a means for generating an RGB image that further includeslaser mapping data. When partitioned spectrums of light are used, (as inFIG. 6B) a sensor can be made sensitive to all wavelengths ofelectromagnetic energy. In the process illustrated in FIG. 6B, themonochromatic pixel array is instructed that it is sensingelectromagnetic energy from a predetermined partition of the fullspectrum of electromagnetic energy in each cycle. Therefore, to form animage the sensor need only be cycled with a plurality of differingpartitions from within the full spectrum of light. The final image isassembled based on the multiple cycles. Because the image from eachcolor partition frame cycle has a higher resolution (compared with a CFApixel array), the resultant image created when the partitioned lightframes are combined also has a higher resolution. In other words,because each and every pixel within the array (instead of, at most,every second pixel in a sensor with a CFA) is sensing the magnitudes ofenergy for a given pulse and a given scene, just fractions of timeapart, a higher resolution image is created for each scene.

As can be seen graphically in the embodiments illustrated in FIGS. 6Aand 6B between times t(0) and t(1), the sensor for the partitionedspectrum system in FIG. 6B has cycled at least four times for every oneof the full spectrum system in FIG. 6A. In an embodiment, a displaydevice (LCD panel) operates at 50-60 frames per second. In such anembodiment, the partitioned light system in FIG. 6B may operate at200-240 frames per second to maintain the continuity and smoothness ofthe displayed video. In other embodiments, there may be differentcapture and display frame rates. Furthermore, the average capture ratecould be any multiple of the display rate.

In an embodiment, it may be desired that not all partitions berepresented equally within the system frame rate. In other words, notall light sources have to be pulsed with the same regularity so as toemphasize and de-emphasize aspects of the recorded scene as desired bythe users. It should also be understood that non-visible and visiblepartitions of the electromagnetic spectrum may be pulsed together withina system with their respective data value being stitched into the videooutput as desired for display to a user.

An embodiment may comprise a pulse cycle pattern as follows:

-   -   i. Green pulse;    -   ii. Red pulse;    -   iii. Blue pulse;    -   iv. Green pulse;    -   v. Red pulse;    -   vi. Blue pulse;    -   vii. Laser mapping pulse;    -   viii. (Repeat)

An embodiment may comprise a pulse cycle pattern as follows:

-   -   i. Luminance pulse;    -   ii. Red chrominance pulse;    -   iii. Luminance pulse;    -   iv. Blue chrominance pulse;    -   v. Laser mapping pulse;    -   vi. (Repeat)

An embodiment may comprise a pulse cycle pattern as follows:

-   -   i. Luminance pulse;    -   ii. Red chrominance pulse;    -   iii. Luminance pulse;    -   iv. Blue chrominance pulse;    -   v. Luminance pulse;    -   vi. Red chrominance pulse;    -   vii. Luminance pulse;    -   viii. Blue chrominance pulse;    -   ix. Laser mapping pulse;    -   x. (Repeat)

As can be seen in the example, a laser mapping partition may be pulsedat a rate differing from the rates of the other partition pulses. Thismay be done to emphasize a certain aspect of the scene, with the lasermapping data simply being overlaid with the other data in the videooutput to make the desired emphasis. It should be noted that theaddition of a laser mapping partition on top of the RED, GREEN, and BLUEpartitions does not necessarily require the serialized system to operateat four times the rate of a full spectrum non-serial system becauseevery partition does not have to be represented equally in the pulsepattern. As seen in the embodiment, the addition of a partition pulsethat is represented less in a pulse pattern (laser mapping in the aboveexample), would result in an increase of less than 20% of the cyclingspeed of the sensor to accommodate the irregular partition sampling.

The partition cycles may be divided so as to accommodate or approximatevarious imaging and video standards. In an embodiment, the partitioncycles comprise pulses of electromagnetic energy in the Red, Green, andBlue spectrum as follows as illustrated best in FIGS. 7A-7D. The timingrelationship between the emission of pulses of electromagnetic radiationby the emitter, and the readout of the pixel array is furtherillustrated in FIGS. 7A-7D.

In an embodiment, the emitter emits one or more hyperspectral emissionsfor eliciting a spectral response. The hyperspectral emissions includeone or more of electromagnetic radiation having a wavelength from about513-545 nm, from about 565-585 nm, and/or from about 900-1000 nm. Insuch an embodiment, the coherent light source 802 includes at least onelaser emitter for the 513-545 nm partition, at least one laser emitterfor the 565-585 partition, and at least one laser emitter for the900-1000 nm partition. It should be appreciated that additionalhyperspectral emissions for eliciting a spectral response can be emittedwithout departing from the scope of the disclosure.

In an embodiment, the emitter emits one or more fluorescence excitationemissions for fluorescing a reagent. The fluorescence excitationemissions include one or more of electromagnetic radiation having awavelength from about 460-470 nm, 529-537 nm. 633-643 nm, 775-785 nm,800-810 nm, 970-980 nm, 575-579 nm, 519-527 nm, 770-790 nm, and/or795-815 nm. In such an embodiment, the coherent light source 802 mayinclude at least one laser emitter for each of the aforementionedpartitions of electromagnetic radiation. It should be appreciated thatadditional fluorescence excitation emissions for fluorescing a reagentcan be emitted without departing from the scope of the disclosure.

In FIG. 7A, the different light intensities have been achieved bymodulating the light pulse width or duration within the working rangeshown by the vertical grey dashed lines. FIG. 7A illustrates the generaltiming relationships within a four-frame cycle, between pulsed mixturesof three wavelengths and the readout cycle of the pixel array of theimage sensor. In an embodiment, there are three monochromatic pulsedlight sources under the control of the controller. Periodic sequences ofmonochromatic red, monochromatic green, and monochromatic blue exposureframes are captured, e.g. with an R-G-B-G pulsing pattern and assembledinto an sRGB image frame by the image signal processor chain.

In FIG. 7B, the different light intensities have been achieved bymodulating the light power or the power of the electromagnetic emitter,which may be a laser or LED emitter, but keeping the pulse width orduration constant.

FIG. 7C shows the case where both the light power and the light pulsewidth are being modulated, leading to greater flexibility. The partitioncycles may use Cyan Magenta Yellow (CMY), infrared, ultraviolet,hyperspectral, and fluorescence using a non-visible pulse source mixedwith visible pulse sources and any other color space required to producean image or approximate a desired video standard that is currently knownor yet to be developed. It should also be understood that a system maybe able to switch between the color spaces on the fly to provide thedesired image output quality.

In an embodiment using color spaces Green-Blue-Green-Red (as seen inFIG. 7D) it may be desirous to pulse the luminance components more oftenthan the chrominance components because users are generally moresensitive to light magnitude differences than to light colordifferences. This principle can be exploited using a monochromatic imagesensor as illustrated in FIG. 7D. In FIG. 7D, green, which contains themost luminance information, may be pulsed more often or with moreintensity in a (G-B-G-R-G-B-G-R . . . ) scheme to obtain the luminancedata. Such a configuration would create a video stream that hasperceptively more detail, without creating and transmittingunperceivable data.

In an embodiment, all three sources of light are pulsed in unison withlight energies that are modulated to provide pure luminance informationin the same exposure frame. The light energies may be modulatedaccording to color transformation coefficients that convert from RGBcolor space to YCbCr color space. It should be appreciated that thecolor transformation may be implemented according to any suitablestandard such as the ITU-R BT.709 HD standard, the ITU-R BT.601standard, the ITU-R BT.2020 standard, or any other suitable standard orformula. The conversion may be performed according to the ITU-R BT.709HD standard as follows:

$\begin{bmatrix}Y \\{Cb} \\{Cr}\end{bmatrix} = {\begin{bmatrix}R \\G \\B\end{bmatrix}\begin{bmatrix}0.183 & 0.614 & 0.062 \\{- 0.101} & {- 0.339} & 0.439 \\0.439 & {- 0.399} & {- 0.040}\end{bmatrix}}$

In addition to the modulation of luminance information, a full colorimage further requires the red chrominance and blue chrominancecomponents. However, the algorithm applied for the luminance componentcannot be directly applied for chrominance componence because thealgorithm is signed as reflected in the fact that some of the RGBcoefficients are negative. In an embodiment, a degree of luminance isadded so that all of the final pulse energies are a positive value. Aslong as the color fusion process in the image signal processor is awareof the composition of the chrominance exposure frames, they can bedecoded by subtracting the appropriate amount of luminance from aneighboring frame. The pulse energy proportions are given by:

Y=0.183·R+0.614·G+0.062·B

Cb=λ·Y−0.101·R−0.339·G+0.439·B

Cr=δ·Y+0.439·R·0.399·G−0.040·B

where

${\lambda \geq \frac{0.339}{0.614}} = 0.552$${\delta \geq \frac{0.399}{0.614}} = 0.650$

If the λ factor is equal to 0.552, the red and green components arecancelled. In the case, the blue chrominance information can be providedwith pure blue light. Similarly, if the δ factor is equal to 0.650, theblue and green components are cancelled, and the red chrominanceinformation can be provided with pure red light. This embodiment is aconvenient approximation for digital frame reconstruction.

In an embodiment where white balance is performed in the illuminationdomain, then the modulation is imposed in addition to the white balancemodulation.

In an embodiment, duplicating the pulse of a weaker partition may beused to produce an output that has been adjusted for the weaker pulse.For example, blue laser light is considered weak relative to thesensitivity of silicon-based pixels and is difficult to produce incomparison to the red or green light, and therefore may be pulsed moreoften during a frame cycle to compensate for the weakness of the light.These additional pulses may be done serially over time or by usingmultiple lasers that simultaneously pulse to produce the desiredcompensation effect. It should be noted that by pulsing during ablanking period (time during which the sensor is not reading out thepixel array), the sensor is insensitive to differences/mismatchesbetween lasers of the same kind and simply accumulates the light for thedesired output. In another embodiment, the maximum light pulse range maybe different from frame to frame. This is shown in FIG. 7E, where thelight pulses are different from frame to frame. The sensor may be builtto be able to program different blanking periods with a repeatingpattern of two or three or four or n frames.

In FIG. 7E, four different light pulses are illustrated, and Pulse 1 mayrepeat for example after Pulse 4 and may have a pattern of four frameswith different blanking periods. This technique can be used to place themost powerful partition on the smallest blanking period and thereforeallow the weakest partition to have wider pulse on one of the nextframes without the need of increasing the readout speed. Thereconstructed frame can still have a regular pattern from frame to frameas it is constituted of many pulsed frames.

FIG. 8 is a graphical display of the delay or jitter between a controlsignal 802 and an emission 804 of electromagnetic radiation. In anembodiment, the control signal 802 represents a signal provided to thedriver of an emitter. The driver is configured to cause an emitter 202to emit a pulse of electromagnetic radiation. In an embodiment, thedriver is a component of a controller 204 or may be independent of thecontroller 204 and in communication with the controller 204. In anembodiment, the driver is the controller 204. In an embodiment, thedriver is a component of the emitter 202 or is in communication with theemitter 202. As illustrated, there is a delay of duration t1 between thecontrol signal 802 reaching its peak (i.e. turning on) and the emission804 of electromagnetic radiation by an emitter 202. There is a delay ofduration t2 between the control signal 802 going low (i.e. turning off)and the end of the emission 804 of electromagnetic radiation.

The delays t1 and t2 may include some constant delay as well as somenon-constant variation resulting from jitter in the driver of theemitter. For example, there may be a constant delay from when thecontrol signal 802 is transmitted to the driver and when an emission 804of electromagnetic radiation is actually emitted by the emitter 202.This delay may be very short and may be based on the time required forelectrical communications to occur between the driver and the emitter.Non-constant variation in the delay may be a result of jitter in thedriver of the emitter, in the controller 204, and or in the emitteritself.

The jitter experienced by a system or a component of a system (such asthe driver of the emitter) may be described by a value referred to asthe jitter specification. The jitter specification is a numerical valuethat describes the amount of jitter, or a duration of jitter,experienced by a system. In the example illustrated in FIG. 8, the delayt1 has a shorter duration than the delay t2. In the example, the delayt1 may represent the constant delay experienced after the control signal802 is initiated and an emission 804 of electromagnetic radiation isemitted by the emitter. The difference between t2 and t1 may representthe jitter experienced by the system. This value may be referred to asthe jitter specification.

In an embodiment, the jitter specification is a numerical value thatrepresents the amount of variation in the constant or predictable delayfor initiating or discontinuing an emission of a pulse ofelectromagnetic radiation. In such an embodiment, the system experiencesa constant, predictable delay between a driver signaling to the emitterto emit a pulse of electromagnetic radiation and when the emitteractually initiates the pulse of electromagnetic radiation. Similarly,there may be a constant, predictable delay between when the emittershould discontinue the pulse of electromagnetic radiation and when theemitter actually discontinues the pulse of electromagnetic radiation.This constant, predictable delay does not represent the jitterspecification. Instead, the jitter specification is the variation inthis constant, predictable delay. In the example illustrated in FIG. 8,the difference between times t2 and t1 represents the variation in theconstant, predictable delay.

Jitter is not under control by a user of the system. The jitterspecification represents the amount of unpredictable and non-constanttime variation present in the system. If the jitter specification is toolarge with respect to a pulse of electromagnetic radiation, significantreductions in image quality or image brightness variations can occur inthe resulting exposure frames. For example, in a video endoscopic systemas discussed herein, a long jitter specification can cause differentlines of exposure frames within a video stream to have differentbrightness. This leads to flickering and overall reduced quality in thevideo stream. A long jitter specification may result in light beingemitted during a readout period 302 of the image sensor. Ifelectromagnetic radiation is pulsed during the readout period 302,significant variations between pixels and rows of pixels in the pixelreadout will occur and this will reduce image quality in the resultantvideo stream.

In an example implementation, the controller 204 has a jitterspecification of 10% of the duration of a pulse of electromagneticradiation. In the example, the pulse may vary from 90% of its desiredduration to 110% of its desired duration. This can lead to brightnessvariations between exposure frames or lines within an image frame of avideo of up to one-third.

In an embodiment, if the jitter specification has a duration longer thana threshold amount, then the pulses of electromagnetic radiation arelimited in duration to avoid overlapping into a readout period 302.Limits on the pulse duration may require a reduction in frame rate byincreasing the time between captured exposure frames and/or increasingthe duration of the blanking period 316. This may result in a reductionto image brightness, and this may further reduce the ability of theimage sensor to capture detailed images.

In an embodiment, if the jitter specification has a duration shorterthan a threshold amount, then the pulsing sequence of the emitter 202and the readout sequence 204 of the image sensor remain unchanged. In anembodiment, the threshold indicates that the jitter specification mustbe 1 microsecond or less. In an embodiment, the threshold indicates thatthe jitter specification must be 50 nanoseconds or less. In anembodiment, the threshold indicates that the jitter specification mustbe less than the time it takes for the image sensor to read out one lineof the pixel array. In an embodiment, the threshold indicates that thejitter specification must be less than the time it takes for the imagesensor to read out a single pixel of the pixel array. In an embodiment,the threshold indicates that the jitter specification may be less thanor equal to 10% to 25% of the readout period 302 of the image sensor, orthe time it takes the image sensor to read out all active pixels in thepixel array. For example, in such an embodiment, if the pixel arraycomprises 400 lines, then the jitter specification must be less than orequal to the time required to read out 40-100 lines of the 400 lines inthe pixel array. Thus, the amount of variation in the light captured bythe pixel array may be low enough to reduce image flicked and provide asmuch light as possible between readout periods 302.

In an embodiment, the jitter specification is reduced (shortened) byimplementing a higher clock rate or a more accurate clock in thecontroller 204 or the driver of the emitter 202. The reduced jitterspecification and tolerance of the driver of the emitter 202 may solvethe problem of non-tolerated driving causing artifacts in the resultantvideo stream.

In an embodiment, a camera control unit (CCU) provides signals to acontroller 204 or an emitter 202 to avoid overlapping a pulse ofelectromagnetic radiation with the readout period 302 of the imagesensor. The CCU may determine a timing for sending a signal to thecontroller 204 and/or the emitter 202 to avoid overlapping into thereadout of active (i.e., not optical black) pixels of the pixel array.The CCU may maximize the duration of time electromagnetic radiation isemitted by the emitter 202 without overlapping a readout period 302 ofthe image sensor.

FIG. 9 illustrates a cross section of an optical fiber bundle 900 forcarrying electromagnetic radiation from an emitter 202 to a lightdeficient environment for illuminating a scene. In the exampleembodiment illustrated in FIG. 9, the optical fiber bundle 900 includesseven fibers, but it should be appreciated that the number of fibers isillustrative only and any suitable number of fibers may be used withdeparting from the scope of the disclosure. The fiber bundle includes acenter fiber 902 and multiple surrounding fibers 904.

In an embodiment, the total number of fibers is limited to reduce thecross-sectional area of the optical fiber bundle 900. The optical fiberbundle 900 may include a suitable number of fibers for providingsufficient light dispersion while allowing for a small cross-sectionalarea. This may be desirable because the cross-sectional rea of the lumenof an endoscopic is of critical importance in some applications where asmall endoscope is necessary. In an embodiment, the optical fiber bundle900 includes from two to 150 fibers. A smaller number of fibers mayreduce expense and the cross-sectional area needed to carry the opticalfiber bundle 900. However, a greater number of fibers improvesredundancy. In an embodiment, the optical fiber bundle 900 includes5-100 fibers, or 5-50 fibers, or 7-15 fibers. In an embodiment, theoptical fiber bundle includes seven fibers as illustrated in FIG. 9.

When the optical fiber bundle 900 has a smaller number of fibers, it maybe desirable that each fiber receives the same amount of electromagneticradiation and the same amount of a specific wavelength ofelectromagnetic radiation. For example, if electromagnetic radiation isprimarily transmitted through the center fiber 902, then the centerfiber 902 will receive a majority of the electromagnetic radiation andthe scene will be unevenly illuminated by color or brightness.Additionally, if more light enters into one fiber than another, theoverall amount of electromagnetic radiation (power) that can be carriedin the optical fiber bundle 900 may be reduced. For example, a fiber mayhave a burnout limit that may result in the fiber melting or otherwisebecoming inoperative if electromagnetic radiation above a certain energylevel or intensity is provided to the fiber. Thus, if electromagneticradiation is more evenly distributed across the fibers, then an increasein power and illumination of the scene may be possible.

In an embodiment, an emitter 202 mixes two or more wavelengths ofelectromagnetic radiation before providing the electromagnetic radiationto the optical fiber bundle 900. This may be accomplished when theemitter 202 includes two or more independent laser bundles for emittingdifferent wavelengths of electromagnetic radiation. The emitter 202 mayinclude, for example, a first laser bundle for emitting a firstwavelength and a second laser bundle for emitting a second wavelength.The emitter 202 may mix the electromagnetic radiation such that lightfrom the first laser bundle and the second laser bundle enter the jumperwaveguide (or another waveguide) at the same or substantially sameangle. A same or substantially same angle may be achieved by positioningthe laser bundles at the same angle relative to one another. In anembodiment, a dichroic mirror allows for a same or substantially sameangle by reflecting electromagnetic radiation of one wavelength whilebeing transparent to another wavelength. In an embodiment, the emitter202 includes a diffuser, mixing rod, lens, or other optical element tomix light before entry into the optical fiber bundle 900.

In an embodiment, the emitter 202 provides an evenly distributed lightintensity to a waveguide. The peak intensity of light within a regionwhere light is collected for the waveguide may be substantially the sameor close to the average intensity of light over the region. The lightprovided to a collection region may have a top hat profile such thateach fiber collects and/or receives the same or similar intensity oflight. The emitter 202 may provide or approximate a top hat profile byproviding laser light at an angle to a surface of a collection region.For example, the emitter 202 may include a Gaussian or othernon-constant intensity profile. By angling the laser bundles in relationto the collection region, the Gaussian profile is flattened into a moreconstant or top hat profile. The top hat profile may be generated usinglenses, diffusers, mixing rods, and the like.

FIG. 10 graphically illustrates a top hat profile 1002 and a Gaussianprofile 1004. The horizontal axis represents horizontal distance and thevertical axis represents light intensity. The lines labeled with callout1006 represent the boundaries or width of a collection region 1006 ofthe optical fiber bundle 900. The line labeled with the callout 1008represents a burnout level 1008 for a fiber or other waveguide.

With the Gaussian profile 1004, a majority of the electromagneticradiation is sent to the center fiber 902. When the majority of theenergy is in the center fiber 902, the remaining surrounding fibers 904may be far below the burnout level 1008. For example, with the Gaussianprofile 1004, an increase in the total amount of energy could lead to acenter fiber 902 significantly exceeding the burnout level 1008 with themultiple surround fibers 904 far below the burnout level 1008.

With the top hat profile 1002, all fibers carry the same energy level.This energy level may be near the burnout level 1008 or below theburnout level 1008. For example, with the top hat profile 1002, thetotal energy carried by the optical fiber bundle 900 may besignificantly increased because the optical fiber bundle 900 maycollectively be pushed near the burnout level 1008 without riskingburnout of any individual fiber.

FIG. 10 illustrates that more energy can be provided before any of theindividual fibers reach the burnout level 1008 by implementing the tophat profile 1002. The Gaussian profile 1004 and the top hat profile 1002may provide the same amount of wattage to the optical fiber bundle 900,while the top hat profile 1002 can still be increased significantlybefore reaching the burnout level 1008. Thus, a significant improvementin the total amount of energy delivered using plastic fibers can beachieved. In some cases, a 50% or greater increase of wattage carried byan optical fiber bundle 900 may be achieved by implementing the top hatprofile 1002. In an embodiment, the plastic fibers may have a burnoutenergy level for light/electromagnetic energy emitted by the one or moreemitters above which damage to the plastic fibers may occur, wherein thelight energy is spread out across the plurality of plastic fibers toallow a greater amount of energy to be carried by the optical fiberbundle 900 including the plastic fibers without reaching the burnoutlevel 1008 in any of the fibers.

In an embodiment, the top hat profile 1002 and the Gaussian profile 1004are combined by an emitter 202 for use with plastic optical fiberbundles 900. The emitter 202 and/or the jumper waveguide may not includeplastic waveguides. However, the emitter 202 may mix the top hat profile1002 with the Gaussian profile 1004 to allow for use with a plasticoptical fiber bundle 900 at the lumen waveguide. In an embodiment,mixing the top hat profile 1002 allows for greater power delivery inview of losses that may be incurred when moving the electromagneticradiation between different materials, e.g. from a diffuser to a glassfiber, to a plastic fiber, and/or back to a glass fiber or diffuser. Thegreater power delivery may offset losses in previous or subsequenttransitions so that sufficient light can still be delivered toilluminate a scene.

FIG. 11 is a side view illustrating output from an optical fiber bundle1102 in comparison to a camera field of view. In an embodiment, aplastic fiber has a numerical aperture of 0.63 with a field of view of100 degrees as indicated by dashed line 1106. A glass fiber has anumerical aperture of 0.87 with a field of view of 120 degrees asindicated by solid line 1104. However, light emitted within the field ofview has an approximate Gaussian profile within a light cone that isless than the field of view. For example, nearly all the light for aplastic fiber may be within a cone of 80 degrees as indicated by dottedline 1108. Thus, a center region of an exposure frame may be too brightwhile the edges are too dark.

FIG. 12 is a side view illustrating output from an optical fiber bundle1202 having a more uniform distribution of light relative to the outputillustrated in FIG. 11. In the embodiment illustrated in FIG. 12, auniform distribution of light is achieved by aiming the ends of fiberswhere light exits the optical fiber bundle 1202. Aiming the fibers awayfrom center broadens the cone in a field of view with no light loss atthe output. The end of each fiber may be held in a desired position todistribute light where the combination of light cones from the fibersprovides even illumination. The optical fiber bundle 1202 includes aplurality of fibers and lines 1204 that indicate the orientation ofcones output by the individual fibers. In an embodiment, a fixture suchas a physical mold or a sheet with holes holds the ends of the fibers inthe desired orientations. The fibers may be oriented in an optimalorientation for even illumination of a scene. The tips of the fibers inthe optical fiber bundle 1202 may be located near a distal tip of anendoscope and may be pointed to spread light around a region centered onthe focal point or camera lens axis.

FIG. 13 is a side view illustrating output from an optical fiber bundle1302 that transitions from plastic fibers 1304 to glass fibers 1306 at aconnector 1308. In the embodiment, a lumen waveguide includes plasticfibers 1304 and then transitions to glass fibers 1306 at or near anoutput. The glass fibers 1306 generally have a higher numerical apertureand a wider field of view than the plastic fibers 1304. Thus, a widerand more even distribution of light energy is achieved as illustrated bythe light cone 1310. The light traveling through the plastic fibers 1304is guided to the glass fibers 1306 by way of the connector 1308. Thiscoupling may occur within a handpiece unit of an endoscope of a lumen ofthe endoscope. The connector 1308 may be positioned in the handpieceunit or in the lumen to limit the amount of glass fibers 1306 used.Moving from plastic fibers 1304 through a taper in the handpiece or thelumen to glass fibers 1306 may result in the same field of view as aconventional endoscope. However, light loss may be significant, such asabout 25% compared to the aiming embodiment, which experiences no lightloss at the output.

FIG. 14 is a side view illustrating light output from an optical fiberbundle 1402 using a diffuser 1408. In the embodiment, a lumen waveguideincludes plastic fibers 1404 and then transitions to the diffuser 1408at or near an output. The diffuser 1408 may include any suitable opticaldiffuser such as a mixing rod or the like. Example diffusers includeholographic diffusers. The diffuser 1408 at the output can produce alarger angle for the field of view when compared against glass fibers.However, the diffuser 1408 is less efficient, such as about 40-60%efficient versus the aiming embodiment illustrated in FIG. 12.

Plastic fibers are typically less expensive than glass fibers. Thereduced price can lead to significant savings in manufacturing theillumination system. Because glass fibers may only be used for a shortdistance near an output, or not at all, a significant cost savings isrealized.

In an embodiment, a single fiber replaces an optical fiber bundle. Thesingle fiber may be larger than typical fibers making up the opticalfiber bundle such that the single fiber is capable of handling a greateramount of power than a bundle of smaller fibers for the samecross-sectional area. The single fiber may extend from a console andthrough a lumen to provide light to an interior of a body or other lightdeficient environment. The single fiber may operate as a lumen waveguidethat extends from the emitter 202 or jumper waveguide and through alumen. Electromagnetic radiation may be provided by the emitter 202directly to the single fiber with the top hat profile.

Because a plastic fiber may only have a numerical aperture of 0.63 or0.65, most of the electromagnetic radiation may only exit the fiber atan angle of 70 or 80 degrees. At an output of the single fiber, adiffuser may be positioned to spread output light and create a more evenillumination within a field of the view of the camera. In an embodiment,the type of diffuser or the presence of a diffuser may be based on thefield of view used by the camera. For example, laparoscopic proceduresmay allow for more narrow fields of view, such as 70 degrees, whilearthroscopic procedures may use broader fields of view, such as 110degrees. Thus, a diffuser may be used for arthroscopic examinationswhile a diffuser is absent for laparoscopic examinations.

It should be understood that embodiments for outputting electromagneticradiation (light) may include a combination of one or more of theembodiments illustrated in FIGS. 11-14. For example, plastic fibers maybe transitioned to glass fibers and the glass fibers may be aimed toprovide more uniform and improved illumination.

FIG. 15 is a schematic flow chart diagram illustrating an example method1500 for providing light to an imaging scene in a light deficientenvironment. The method 1500 may be performed by an illumination system,such as the system 100 of FIG. 1.

The method 1500 begins and an image sensor generates and reads out at1502 pixel data from an image sensor for an image based on lightreceived by the image sensor, wherein a time length for reading out aline of pixel data includes a line readout length. An emitter emits at1504 light for illumination of a scene observed by the image sensor. Adriver drives at 1506 emission by the emitter, wherein the driverincludes a jitter specification of less than or equal to the linereadout length. A controller controls at 1508 the driver to drive theemitter to generate pulses of light between readout periods for theimage sensor.

FIG. 16 is a schematic flow chart diagram illustrating an example method1600 for providing light to an imaging scene in a light deficientenvironment. The method 1600 may be performed by an illumination system,such as the system 100 of FIG. 1.

The method 1600 begins and a first emitter and second emitter emit at1602 light including a first wavelength and a second wavelength. Aplurality of optical fibers guides at 1604 light generated by the firstemitter and the second emitter to a scene in an endoscopic environment.The plurality of optical fibers receives at 1606 a substantially equalamount of light (mixed light) from the first emitter and the secondemitter at each optical fiber of the plurality of optical fibers.

FIGS. 17A-17C each illustrate a light source 1700 having a plurality ofemitters. The light source 1700 can collectively be referred to as an“emitter” herein. The plurality of emitters include a first emitter1702, a second emitter 1704, and a third emitter 1706. Additionalemitters may be included, as discussed further below. The emitters 1702,1704, and 1706 may include one or more laser emitters that emit lighthaving different wavelengths. For example, the first emitter 1702 mayemit a wavelength that is consistent with a blue laser, the secondemitter 1704 may emit a wavelength that is consistent with a greenlaser, and the third emitter 1706 may emit a wavelength that isconsistent with a red laser. For example, the first emitter 1702 mayinclude one or more blue lasers, the second emitter 1704 may include oneor more green lasers, and the third emitter 1706 may include one or morered lasers. The emitters 1702, 1704, 1706 emit laser beams toward acollection region 1708, which may be the location of a waveguide, lens,or other optical component for collecting and/or providing light to awaveguide, such as the jumper waveguide 206 or lumen waveguide 210 ofFIG. 2.

In an implementation, the emitters 1702, 1704, and 1706 emithyperspectral wavelengths of electromagnetic radiation. Certainhyperspectral wavelengths may pierce through tissue and enable a medicalpractitioner to “see through” tissues in the foreground to identifychemical processes, structures, compounds, biological processes, and soforth that are located behind the tissues in the foreground. Thehyperspectral wavelengths may be specifically selected to identify aspecific disease, tissue condition, biological process, chemicalprocess, type of tissue, and so forth that is known to have a certainspectral response.

In an implementation where a patient has been administered a reagent ordye to aid in the identification of certain tissues, structures,chemical reactions, biological processes, and so forth, the emitters1702, 1704, and 1706 may emit wavelength(s) for fluorescing the reagentsor dyes. Such wavelength(s) may be determined based on the reagents ordyes administered to the patient. In such an embodiment, the emittersmay need to be highly precise for emitting desired wavelength(s) tofluoresce or activate certain reagents or dyes.

In an implementation, the emitters 1702, 1704, and 1706 emit a lasermapping pattern for mapping a topology of a scene and/or for calculatingdimensions and distances between objects in the scene. In an embodiment,the endoscopic imaging system is used in conjunction with multiple toolssuch as scalpels, retractors, forceps, and so forth. In such anembodiment, each of the emitters 1702, 1704, and 1706 may emit a lasermapping pattern such that a laser mapping pattern is projected on toeach tool individually. In such an embodiment, the laser mapping datafor each of the tools can be analyzed to identify distances between thetools and other objects in the scene.

In the embodiment of FIG. 17B, the emitters 1702, 1704, 1706 eachdeliver laser light to the collection region 1708 at different angles.The variation in angle can lead to variations where electromagneticenergy is located in an output waveguide. For example, if the lightpasses immediately into a fiber bundle (glass or plastic) at thecollection region 1708, the varying angles may cause different amountsof light to enter different fibers. For example, the angle may result inintensity variations across the collection region 1708. Furthermore,light from the different emitters may not be homogenously mixed so somefibers may receive different amounts of light of different colors.Variation in the color or intensity of light in different fibers canlead to non-optimal illumination of a scene. For example, variations indelivered light or light intensities may result at the scene andcaptured images.

In one embodiment, an intervening optical element may be placed betweena fiber bundle and the emitters 1702, 1704, 1706 to mix the differentcolors (wavelengths) of light before entry into the fibers or otherwaveguide. Example intervening optical elements include a diffuser,mixing rod, one or more lenses, or other optical components that mix thelight so that a given fiber receive a same amount of each color(wavelength). For example, each fiber in the fiber bundle may have asame color. This mixing may lead to the same color in each fiber butmay, in some embodiments, still result in different total brightnessdelivered to different fibers. In one embodiment, the interveningoptical element may also spread out or even out the light over thecollection region so that each fiber carries the same total amount oflight (e.g., the light may be spread out in a top hat profile). Adiffuser or mixing rod may lead to loss of light.

Although the collection region 1708 is represented as a physicalcomponent in FIG. 17A, the collection region 1708 may simply be a regionwhere light from the emitters 1702, 1704, and 1706 is delivered. In somecases, the collection region 1708 may include an optical component suchas a diffuser, mixing rod, lens, or any other intervening opticalcomponent between the emitters 1702, 1704, 1706 and an output waveguide.

FIG. 17C illustrates an embodiment of a light source 1700 with emitters1702, 1704, 1706 that provide light to the collection region 1708 at thesame or substantially same angle. The light is provided at an anglesubstantially perpendicular to the collection region 1708. The lightsource 1700 includes a plurality of dichroic mirrors including a firstdichroic mirror 1710, a second dichroic mirror 1712, and a thirddichroic mirror 1714. The dichroic mirrors 1710, 1712, 1714 includemirrors that reflect a first wavelength of light but transmit (or aretransparent to) a second wavelength of light. For example, the thirddichroic mirror 1714 may reflect blue laser light provided by the thirdemitter, while being transparent to the red and green light provided bythe first emitter 1702 and the second emitter 1704, respectively. Thesecond dichroic mirror 1712 may be transparent to red light from thefirst emitter 1702, but reflective to green light from the secondemitter 1704. If other colors or wavelengths are included dichroicmirrors may be selected to reflect light corresponding to at least oneemitter and be transparent to other emitters. For example, the thirddichroic mirror 1714 reflect the light form the third emitter 1706 butis to emitters “behind” it, such as the first emitter 1702 and thesecond emitter 1704. In embodiments where tens or hundreds of emittersare present, each dichroic mirror may be reflective to a correspondingemitter and emitters in front of it while being transparent to emittersbehind it. This may allow for tens or hundreds of emitters to emitelectromagnetic energy to the collection region 1708 at a substantiallysame angle.

Because the dichroic mirrors allow other wavelengths to transmit or passthrough, each of the wavelengths may arrive at the collection region1708 from a same angle and/or with the same center or focal point.Providing light from the same angle and/or same focal/center point cansignificantly improve reception and color mixing at the collectionregion 1708. For example, a specific fiber may receive the differentcolors in the same proportions they were transmitted/reflected by theemitters 1702, 1704, 1706 and mirrors 1710, 1712, 1714. Light mixing maybe significantly improved at the collection region compared to theembodiment of FIG. 17B. In one embodiment, any optical componentsdiscussed herein may be used at the collection region 1708 to collectlight prior to providing it to a fiber or fiber bundle.

FIG. 17C illustrates an embodiment of a light source 1700 with emitters1702, 1704, 1706 that also provide light to the collection region 1708at the same or substantially same angle.

However, the light incident on the collection region 1708 is offset frombeing perpendicular. Angle 1716 indicates the angle offset fromperpendicular. In one embodiment, the laser emitters 1702, 1704, 1706may have cross sectional intensity profiles that are Gaussian. Asdiscussed previously, improved distribution of light energy betweenfibers may be accomplished by creating a more flat or top hat shapedintensity profile. In one embodiment, as the angle 1716 is increased,the intensity across the collection region 1708 approaches a top hatprofile. For example, a top hat profile may be approximated even with anon-flat output beam by increasing the angle 1716 until the profile issufficiently flat. The top hat profile may also be accomplished usingone or more lenses, diffusers, mixing rods, or any other interveningoptical component between the emitters 1702, 1704, 1706 and an outputwaveguide, fiber, or fiber optic bundle.

FIG. 18 is a schematic diagram illustrating a single optical fiber 1802outputting via a diffuser 1804 at an output. In one embodiment, theoptical fiber 1802 has a diameter of 500 microns, a numerical apertureof 0.65, and emits a light cone 1806 of about 70 or 80 degrees without adiffuser 1804. With the diffuser 1804, the light cone 1806 may have anangle of about 110 or 120 degrees. The light cone 1806 may be a majorityof where all light goes and is evenly distributed. The diffuser 1804 mayallow for more even distribution of electromagnetic energy of a sceneobserved by an image sensor.

In one embodiment, the lumen waveguide 210 includes a single plastic orglass optical fiber of about 500 microns. The plastic fiber may be lowcost, but the width may allow the fiber to carry a sufficient amount oflight to a scene, with coupling, diffusion, or other losses. Forexample, smaller fibers may not be able to carry as much light or poweras a larger fiber. The lumen waveguide 210 may include a single or aplurality of optical fibers. The lumen waveguide 210 may receive lightdirectly from the light source or via a jumper waveguide. A diffuser maybe used to broaden the light output 206 for a desired field of view ofthe image sensor 214 or other optical components.

Although three emitters are shown in FIGS. 17A-17C, emitters numberingfrom one into the hundreds or more may be used in some embodiments. Theemitters may have different wavelengths or spectrums of light that theyemit, and which may be used to contiguously cover a desired portion ofthe electromagnetic spectrum (e.g., the visible spectrum as well asinfrared and ultraviolet spectrums). The emitters may be configured toemit visible light such as red light, green light, and blue light, andmay further be configured to emit hyperspectral emissions ofelectromagnetic radiation, fluorescence excitation wavelengths forfluorescing a reagent, and/or laser mapping patterns for calculatingparameters and distances between objects in a scene.

FIG. 19 illustrates a portion of the electromagnetic spectrum 1900divided into twenty different sub-spectrums. The number of sub-spectrumsis illustrative only. In at least one embodiment, the spectrum 1900 maybe divided into hundreds of sub-spectrums, each with a small waveband.The spectrum may extend from the infrared spectrum 1902, through thevisible spectrum 1904, and into the ultraviolet spectrum 1906. Thesub-spectrums each have a waveband 1908 that covers a portion of thespectrum 1900. Each waveband may be defined by an upper wavelength and alower wavelength.

Hyperspectral imaging includes imaging information from across theelectromagnetic spectrum 1900. A hyperspectral pulse of electromagneticradiation may include a plurality of sub-pulses spanning one or moreportions of the electromagnetic spectrum 1900 or the entirety of theelectromagnetic spectrum 1900. A hyperspectral pulse of electromagneticradiation may include a single partition of wavelengths ofelectromagnetic radiation. A resulting hyperspectral exposure frameincludes information sensed by the pixel array subsequent to ahyperspectral pulse of electromagnetic radiation. Therefore, ahyperspectral exposure frame may include data for any suitable partitionof the electromagnetic spectrum 1900 and may include multiple exposureframes for multiple partitions of the electromagnetic spectrum 1900. Inan embodiment, a hyperspectral exposure frame includes multiplehyperspectral exposure frames such that the combined hyperspectralexposure frame comprises data for the entirety of the electromagneticspectrum 1900.

In one embodiment, at least one emitter (such as a laser emitter) isincluded in a light source (such as the light sources 202, 1700) foreach sub-spectrum to provide complete and contiguous coverage of thewhole spectrum 1900. For example, a light source for providing coverageof the illustrated sub-spectrums may include at least 20 differentemitters, at least one for each sub-spectrum. In one embodiment, eachemitter covers a spectrum covering 40 nanometers. For example, oneemitter may emit light within a waveband from 500 nm to 540 nm whileanother emitter may emit light within a waveband from 540 nm to 580 nm.In another embodiment, emitters may cover other sizes of wavebands,depending on the types of emitters available or the imaging needs. Forexample, a plurality of emitters may include a first emitter that coversa waveband from 500 to 540 nm, a second emitter that covers a wavebandfrom 540 nm to 640 nm, and a third emitter that covers a waveband from640 nm to 650 nm. Each emitter may cover a different slice of theelectromagnetic spectrum ranging from far infrared, mid infrared, nearinfrared, visible light, near ultraviolet and/or extreme ultraviolet. Insome cases, a plurality of emitters of the same type or wavelength maybe included to provide sufficient output power for imaging. The numberof emitters needed for a specific waveband may depend on the sensitivityof a monochrome sensor to the waveband and/or the power outputcapability of emitters in that waveband.

The waveband widths and coverage provided by the emitters may beselected to provide any desired combination of spectrums. For example,contiguous coverage of a spectrum using very small waveband widths(e.g., 10 nm or less) may allow for highly selective hyperspectraland/or fluorescence imaging. The waveband widths may allow forselectively emitting the excitation wavelength(s) for one or moreparticular fluorescent reagents. Additionally, the waveband widths mayallow for selectively emitting certain partitions of hyperspectralelectromagnetic radiation for identifying specific structures, chemicalprocesses, tissues, biological processes, and so forth. Because thewavelengths come from emitters which can be selectively activated,extreme flexibility for fluorescing one or more specific fluorescentreagents during an examination can be achieved. Additionally, extremeflexibility for identifying one or more objects or processes by way ofhyperspectral imaging can be achieved. Thus, much more fluorescenceand/or hyperspectral information may be achieved in less time and withina single examination which would have required multiple examinations,delays because of the administration of dyes or stains, or the like.

FIG. 20 is a schematic diagram illustrating a timing diagram 2000 foremission and readout for generating an image. The solid line representsreadout (peaks 2002) and blanking periods (valleys) for capturing aseries of exposure frames 2004-2014. The series of exposure frames2004-2014 may include a repeating series of exposure frames which may beused for generating laser mapping, hyperspectral, and/or fluorescencedata that may be overlaid on an RGB video stream. In an embodiment, asingle image frame comprises information from multiple exposure frames,wherein one exposure frame includes red image data, another exposureframe includes green image data, and another exposure frame includesblue image data. Additionally, the single image frame may include one ormore of hyperspectral image data, fluorescence image data, and lasermapping data. The multiple exposure frames are combined to produce thesingle image frame. The single image frame is an RGB image withhyperspectral imaging data. The series of exposure frames include afirst exposure frame 2004, a second exposure frame 2006, a thirdexposure frame 2008, a fourth exposure frame 2010, a fifth exposureframe 2012, and an Nth exposure frame 2026.

Additionally, the hyperspectral image data, the fluorescence image data,and the laser mapping data can be used in combination to identifycritical tissues or structures and further to measure the dimensions ofthose critical tissues or structures. For example, the hyperspectralimage data may be provided to a corresponding system to identify certaincritical structures in a body such as a nerve, ureter, blood vessel,cancerous tissue, and so forth. The location and identification of thecritical structures may be received from the corresponding system andmay further be used to generate topology of the critical structuresusing the laser mapping data. For example, a corresponding systemdetermines the location of a cancerous tumor based on hyperspectralimaging data. Because the location of the cancerous tumor is known basedon the hyperspectral imaging data, the topology and distances of thecancerous tumor may then be calculated based on laser mapping data. Thisexample may also apply when a cancerous tumor or other structure isidentified based on fluorescence imaging data.

In one embodiment, each exposure frame is generated based on at leastone pulse of electromagnetic energy. The pulse of electromagnetic energyis reflected and detected by an image sensor and then read out in asubsequent readout (2002). Thus, each blanking period and readoutresults in an exposure frame for a specific spectrum of electromagneticenergy. For example, the first exposure frame 2004 may be generatedbased on a spectrum of a first one or more pulses 2016, a secondexposure frame 2006 may be generated based on a spectrum of a second oneor more pulses 2018, a third exposure frame 2008 may be generated basedon a spectrum of a third one or more pulses 2020, a fourth exposureframe 2010 may be generated based on a spectrum of a fourth one or morepulses 2022, a fifth exposure frame 2012 may be generated based on aspectrum of a fifth one or more pulses, and an Nth exposure frame 2026may be generated based on a spectrum of an Nth one or more pulses 2026.

The pulses 2016-2026 may include energy from a single emitter or from acombination of two or more emitters. For example, the spectrum includedin a single readout period or within the plurality of exposure frames2004-2014 may be selected for a desired examination or detection of aspecific tissue or condition. According to one embodiment, one or morepulses may include visible spectrum light for generating an RGB or blackand white image while one or more additional pulses are emitted to sensea spectral response to a hyperspectral wavelength of electromagneticradiation. For example, pulse 2016 may include red light, pulse 2018 mayinclude blue light, and pulse 2020 may include green light while theremaining pulses 2022-2026 may include wavelengths and spectrums fordetecting a specific tissue type, fluorescing a reagent, and/or mappingthe topology of the scene. As a further example, pulses for a singlereadout period include a spectrum generated from multiple differentemitters (e.g., different slices of the electromagnetic spectrum) thatcan be used to detect a specific tissue type. For example, if thecombination of wavelengths results in a pixel having a value exceedingor falling below a threshold, that pixel may be classified ascorresponding to a specific type of tissue. Each frame may be used tofurther narrow the type of tissue that is present at that pixel (e.g.,and each pixel in the image) to provide a very specific classificationof the tissue and/or a state of the tissue (diseased/healthy) based on aspectral response of the tissue and/or whether a fluorescent reagent ispresent at the tissue.

The plurality of frames 2004-2014 is shown having varying lengths inreadout periods and pulses having different lengths or intensities. Theblanking period, pulse length or intensity, or the like may be selectedbased on the sensitivity of a monochromatic sensor to the specificwavelength, the power output capability of the emitter(s), and/or thecarrying capacity of the waveguide.

In one embodiment, dual image sensors may be used to obtainthree-dimensional images or video feeds. A three-dimensional examinationmay allow for improved understanding of a three-dimensional structure ofthe examined region as well as a mapping of the different tissue ormaterial types within the region.

In an example implementation, a fluorescent reagent is provided to apatient, and the fluorescent reagent is configured to adhere tocancerous cells. The fluorescent reagent is known to fluoresce whenradiated with a specific partition of electromagnetic radiation. Therelaxation wavelength of the fluorescent reagent is also known. In theexample implementation, the patient is imaged with an endoscopic imagingsystem as discussed herein. The endoscopic imaging system pulsespartitions of red, green, and blue wavelengths of light to generate anRGB video stream of the interior of the patient's body. Additionally,the endoscopic imaging system pulses the excitation wavelength ofelectromagnetic radiation for the fluorescent reagent that wasadministered to the patient. In the example, the patient has cancerouscells and the fluorescent reagent has adhered to the cancerous cells.When the endoscopic imaging system pulses the excitation wavelength forthe fluorescent reagent, the fluorescent reagent will fluoresce and emita relaxation wavelength. If the cancerous cells are present in the scenebeing imaged by the endoscopic imaging system, then the fluorescentreagent will also be present in the scene and will emit its relaxationwavelength after fluorescing due to the emission of the excitationwavelength. The endoscopic imaging system senses the relaxationwavelength of the fluorescent reagent and thereby senses the presence ofthe fluorescent reagent in the scene. Because the fluorescent reagent isknown to adhere to cancerous cells, the presence of the fluorescentreagent further indicates the presence of cancerous cells within thescene. The endoscopic imaging system thereby identifies the location ofcancerous cells within the scene. The endoscopic imaging system mayfurther emit a laser mapping pulsing scheme for generating a topology ofthe scene and calculating dimensions for objects within the scene. Thelocation of the cancerous cells (as identified by the fluorescenceimaging data) may be combined with the topology and dimensionsinformation calculated based on the laser mapping data. Therefore, theprecise location, size, dimensions, and topology of the cancerous cellsmay be identified. This information may be provided to a medicalpractitioner to aid in excising the cancerous cells. Additionally, thisinformation may be provided to a robotic surgical system to enable thesurgical system to excise the cancerous cells.

In a further example implementation, a patient is imaged with anendoscopic imaging system to identify quantitative diagnosticinformation about the patient's tissue pathology. In the example, thepatient is suspected or known to suffer from a disease that can betracked with hyperspectral imaging to observe the progression of thedisease in the patient's tissue. The endoscopic imaging system pulsespartitions of red, green, and blue wavelengths of light to generate anRGB video stream of the interior of the patient's body. Additionally,the endoscopic imaging system pulses one or more hyperspectralwavelengths of light that permit the system to “see through” sometissues and generate imaging of the tissue that is affected by thedisease. The endoscopic imaging system senses the reflectedhyperspectral electromagnetic radiation to generate hyperspectralimaging data of the diseased tissue, and thereby identifies the locationof the diseased tissue within the patient's body. The endoscopic imagingsystem may further emit a laser mapping pulsing scheme for generating atopology of the scene and calculating dimensions of objects within thescene. The location of the diseased tissue (as identified by thehyperspectral imaging data) may be combined with the topology anddimensions information that is calculated with the laser mapping data.Therefore, the precise location, size, dimensions, and topology of thediseased tissue can be identified. This information may be provided to amedical practitioner to aid in excising, imaging, or studying thediseased tissue. Additionally, this information may be provided to arobotic surgical system to enable the surgical system to excise thediseased tissue.

FIG. 21 is a schematic diagram of an imaging system 2100 having a singlecut filter. The system 2100 includes an endoscope 2106 or other suitableimaging device having a light source 2108 for use in a light deficientenvironment. The endoscope 2106 includes an image sensor 2104 and afilter 2102 for filtering out unwanted wavelengths of light or otherelectromagnetic radiation before reaching the image sensor 2104. Thelight source 2108 transmits light that may illuminate the surface 2112in a light deficient environment such as a body cavity. The light 2110is reflected off the surface 2112 and passes through the filter 2102before hitting the image sensor 2104.

The filter 2102 may be used in an implementation where a fluorescentreagent or dye has been administered. In such an embodiment, the lightsource 2108 emits the excitation wavelength for fluorescing thefluorescent reagent or dye. Commonly, the relaxation wavelength emittedby the fluorescent reagent or dye will be of a different wavelength thanthe excitation wavelength. The filter 2102 may be selected to filter outthe excitation wavelength and permit only the relaxation wavelength topass through the filter and be sensed by the image sensor 2104.

In one embodiment, the filter 2102 is configured to filter out anexcitation wavelength of electromagnetic radiation that causes a reagentor dye to fluoresce such that only the expected relaxation wavelength ofthe fluoresced reagent or dye is permitted to pass through the filter2102 and reach the image sensor 2104. In an embodiment, the filter 2102filters out at least a fluorescent reagent excitation wavelength between770 nm and 790 nm. In an embodiment, the filter 2102 filters out atleast a fluorescent reagent excitation wavelength between 795 nm and 815nm. In an embodiment, the filter 2102 filters out at least a fluorescentreagent excitation wavelength between 770 nm and 790 nm and between 795nm and 815 nm. In these embodiments, the filter 2102 filters out theexcitation wavelength of the reagent and permits only the relaxationwavelength of the fluoresced reagent to be read by the image sensor2104. The image sensor 2104 may be a wavelength-agnostic image sensorand the filter 2102 may be configured to permit the image sensor 2104 toonly receive the relaxation wavelength of the fluoresced reagent and notreceive the emitted excitation wavelength for the reagent. The datadetermined by the image sensor 2104 may then indicate a presence of acritical body structure, tissue, biological process, or chemical processas determined by a location of the reagent or dye.

The filter 2102 may further be used in an implementation where afluorescent reagent or dye has not been administered. The filter 2102may be selected to permit wavelengths corresponding to a desiredspectral response to pass through and be read by the image sensor 2104.The image sensor 2104 may be a monochromatic image sensor such thatpixels of the captured image that exceed a threshold or fall below athreshold may be characterized as corresponding to a certain spectralresponse or fluorescence emission. The spectral response or fluorescenceemission, as determined by the pixels captured by the image sensor 2104,may indicate the presence of a certain body tissue or structure, acertain condition, a certain chemical process, and so forth.

FIG. 22 is a schematic diagram of an imaging system 2200 having multiplecut filters. The system 2200 includes an endoscope 2206 or othersuitable imaging device having a light source 2208 for use in a lightdeficient environment. The endoscope 2206 includes an image sensor 2204and two filters 2202 a, 2202 b. It should be appreciated that inalternative embodiments, the system 2200 may include any number offilters, and the number of filters and the type of filters may beselected for a certain purpose e.g., for gathering imaging informationof a particular body tissue, body condition, chemical process, and soforth. The filters 2202 a, 2202 b are configured for preventing unwantedwavelengths of light or other electromagnetic radiation from beingsensed by the image sensor 2204. The filters 2202 a, 2202 b may beconfigured to filter out unwanted wavelengths from white light or otherelectromagnetic radiation that may be emitted by the light source 2208.

Further to the disclosure with respect to FIG. 21, the filters 2202 a,2202 b may be used in an implementation where a fluorescent reagent ordye has been administered. The filters 2202 a, 2202 b may be configuredfor blocking an emitted excitation wavelength for the reagent or dye andpermitting the image sensor 2204 to only read the relaxation wavelengthof the reagent or dye. Further, the filters 2202 a, 2202 b may be usedin an implementation where a fluorescent reagent or dye has not beenadministered. In such an implementation, the filters 2202 a, 2202 b maybe selected to permit wavelengths corresponding to a desired spectralresponse to pass through and be read by the image sensor 2204.

The multiple filters 2202 a, 2202 b may each be configured for filteringout a different range of wavelengths of the electromagnetic spectrum.For example, one filter may be configured for filtering out wavelengthslonger than a desired wavelength range and the additional filter may beconfigured for filtering out wavelengths shorter than the desiredwavelength range. The combination of the two or more filters may resultin only a certain wavelength or band of wavelengths being read by theimage sensor 2204.

In an embodiment, the filters 2202 a, 2202 b are customized such thatelectromagnetic radiation between 513 nm and 545 nm contacts the imagesensor 2204. In an embodiment, the filters 2202 a, 2202 b are customizedsuch that electromagnetic radiation between 565 nm and 585 nm contactsthe image sensor 2204. In an embodiment, the filters 2202 a, 2202 b arecustomized such that electromagnetic radiation between 900 nm and 1000nm contacts the image sensor 2204. In an embodiment, the filters 2202 a,2202 b are customized such that electromagnetic radiation between 421 nmand 475 nm contacts the image sensor 2204. In an embodiment, the filters2202 a, 2202 b are customized such that electromagnetic radiationbetween 520 nm and 545 nm contacts the image sensor 2204. In anembodiment, the filters 2202 a, 2202 b are customized such thatelectromagnetic radiation between 617 nm and 645 nm contacts the imagesensor 2204. In an embodiment, the filters 2202 a, 2202 b are customizedsuch that electromagnetic radiation between 760 nm and 795 nm contactsthe image sensor 2204. In an embodiment, the filters 2202 a, 2202 b arecustomized such that electromagnetic radiation between 795 nm and 815 nmcontacts the image sensor 2204. In an embodiment, the filters 2202 a,2202 b are customized such that electromagnetic radiation between 370 nmand 420 nm contacts the image sensor 2204. In an embodiment, the filters2202 a, 2202 b are customized such that electromagnetic radiationbetween 600 nm and 670 nm contacts the image sensor 2204. In anembodiment, the filters 2202 a, 2202 b are configured for permittingonly a certain fluorescence relaxation emission to pass through thefilters 2202 a, 2202 b and contact the image sensor 2204. In anembodiment, a first filter blocks electromagnetic radiation having awavelength from about 770 nm to about 790 nm, and a second filter blockselectromagnetic radiation having a wavelength from about 795 nm to about815 nm.

In an embodiment, the system 2200 includes multiple image sensors 2204and may particularly include two image sensors for use in generating athree-dimensional image. The image sensor(s) 2204 may becolor/wavelength agnostic and configured for reading any wavelength ofelectromagnetic radiation that is reflected off the surface 2212. In anembodiment, the image sensors 2204 are each color dependent orwavelength dependent and configured for reading electromagneticradiation of a particular wavelength that is reflected off the surface2212 and back to the image sensors 2204. Alternatively, the image sensor2204 may include a single image sensor with a plurality of differentpixel sensors configured for reading different wavelengths or colors oflight, such as a Bayer filter color filter array. Alternatively, theimage sensor 2204 may include one or more color agnostic image sensorsthat may be configured for reading different wavelengths ofelectromagnetic radiation according to a pulsing schedule such as thoseillustrated in FIGS. 5-7E, for example.

FIG. 23 is a schematic diagram illustrating a system 2300 for mapping asurface and/or tracking an object in a light deficient environmentthrough laser mapping imaging. In an embodiment, an endoscope 2306 in alight deficient environment pulses a grid array 2306 (may be referred toas a laser map pattern) on a surface 2304. The grid array 2306 includesvertical hashing 2308 and horizontal hashing 2310 in one embodiment asillustrated in FIG. 23. It should be appreciated the grid array 2306 mayinclude any suitable array for mapping a surface 2304, including, forexample, a raster grid of discrete points, an occupancy grid map, a dotarray, and so forth. Additionally, the endoscope 2306 may pulse multiplegrid arrays 2306 and may, for example, pulse one or more individual gridarrays on each of a plurality of objects or structures within the lightdeficient environment.

In an embodiment, the system 2300 pulses a grid array 2306 that may beused for mapping a three-dimensional topology of a surface and/ortracking a location of an object such as a tool or another device in alight deficient environment. In an embodiment, the system 2300 providesdata to a third-party system or computer algorithm for determiningsurface dimensions and configurations by way of light detection andranging (LIDAR) mapping. The system 2300 may pulse any suitablewavelength of light or electromagnetic radiation in the grid array 2306,including, for example, ultraviolet light, visible, light, and/orinfrared or near infrared light. The surface 2304 and/or objects withinthe environment may be mapped and tracked at very high resolution andwith very high accuracy and precision.

In an embodiment, the system 2300 includes an imaging device having atube, one or more image sensors, and a lens assembly having an opticalelement corresponding to the one or more image sensors. The system 2300may include a light engine having an emitter generating one or morepulses of electromagnetic radiation and a lumen transmitting the one ormore pulses of electromagnetic radiation to a distal tip of an endoscopewithin a light deficient environment such as a body cavity. In anembodiment, at least a portion of the one or more pulses ofelectromagnetic radiation includes a laser map pattern that is emittedonto a surface within the light deficient environment, such as a surfaceof body tissue and/or a surface of tools or other devices within thebody cavity. The endoscope 2306 may include a two-dimensional,three-dimensional, or n-dimensional camera for mapping and/or trackingthe surface, dimensions, and configurations within the light deficientenvironment.

In an embodiment, the system 2300 includes a processor for determining adistance of an endoscope or tool from an object such as the surface2304. The processor may further determine an angle between the endoscopeor tool and the object. The processor may further determine surface areainformation about the object, including for example, the size ofsurgical tools, the size of structures, the size of anatomicalstructures, location information, and other positional data and metrics.The system 2300 may include one or more image sensors that provide imagedata that is output to a control system for determining a distance of anendoscope or tool to an object such as the surface 2304. The imagesensors may output information to a control system for determining anangle between the endoscope or tool to the object. Additionally, theimage sensors may output information to a control system for determiningsurface area information about the object, the size of surgical tools,size of structures, size of anatomical structures, location information,and other positional data and metrics.

In an embodiment, the grid array 2306 is pulsed by an emitter of theendoscope 2306 at a sufficient speed such that the grid array 2306 isnot visible to a user. In various implementations, it may be distractingto a user to see the grid array 2306 during an endoscopic imagingprocedure and/or endoscopic surgical procedure. The grid array 2306 maybe pulsed for sufficiently brief periods such that the grid array 2306cannot be detected by a human eye. In an alternative embodiment, theendoscope 2306 pulses the grid array 2306 at a sufficient recurringfrequency such that the grid array 2306 may be viewed by a user. In suchan embodiment, the grid array 2306 may be overlaid on an image of thesurface 2304 on a display. The grid array 2306 may be overlaid on ablack-and-white or RGB image of the surface 2304 such that the gridarray 2306 may be visible by a user during use of the system 2300. Auser of the system 2300 may indicate whether the grid array 2306 shouldbe overlaid on an image of the surface 2304 and/or whether the gridarray 2306 should be visible to the user. The system 2300 may include adisplay that provides real-time measurements of a distance from theendoscope 2306 to the surface 2304 or another object within the lightdeficient environment. The display may further provide real-time surfacearea information about the surface 2304 and/or any objects, structures,or tools within the light deficient environment. The accuracy of themeasurements may be accurate to less than one millimeter.

In an embodiment, the system 2300 pulses a plurality of grid arrays2306. In an embodiment, each of the plurality of grid arrays 2306corresponds to a tool or other device present within the light deficientenvironment. The precise locations and parameters of each of the toolsand other devices may be tracked by pulsing and sensing the plurality ofgrid arrays 2306. The information generated by sensing the reflectedgrid arrays 2306 can be assessed to identify relative locations of thetools and other devices within the light deficient environment.

The endoscope 2306 may pulse electromagnetic radiation according to apulsing schedule such as those illustrated herein that may furtherinclude pulsing of the grid array 2306 along with pulsing Red, Green,and Blue light for generating an RGB image and further generating a gridarray 2306 that may be overlaid on the RGB image and/or used for mappingand tracking the surface 2304 and objects within the light deficientenvironment. The grid array 2306 may additionally be pulsed inconjunction with hyperspectral or fluorescent excitation wavelengths ofelectromagnetic radiation. The data from each of the RGB imaging, thelaser mapping imaging, the hyperspectral imaging, and the fluorescenceimaging may be combined to identify the locations, dimensions, andsurface topology of critical structures in a body.

In an embodiment, the endoscope 2306 includes one or more color agnosticimage sensors. In an embodiment, the endoscope 2306 includes two coloragnostic image sensors for generating a three-dimensional image or mapof the light deficient environment. The image sensors may generate anRGB image of the light deficient environment according to a pulsingschedule as disclosed herein. Additionally, the image sensors maydetermine data for mapping the light deficient environment and trackingone or more objects within the light deficient environment based on datadetermined when the grid array 2306 is pulsed. Additionally, the imagesensors may determine spectral or hyperspectral data along withfluorescence imaging data according to a pulsing schedule that may bemodified by a user to suit the particular needs of an imaging procedure.In an embodiment, a pulsing schedule includes Red, Green, and Bluepulses along with pulsing of a grid array 2306 and/or pulsing forgenerating hyperspectral image data and/or fluorescence image data. Invarious implementations, the pulsing schedule may include any suitablecombination of pulses of electromagnetic radiation according to theneeds of a user. The recurring frequency of the different wavelengths ofelectromagnetic radiation may be determined based on, for example, theenergy of a certain pulse, the needs of the user, whether certain data(for example, hyperspectral data and/or fluorescence imaging data) needsto be continuously updated or may be updated less frequently, and soforth.

The pulsing schedule may be modified in any suitable manner, and certainpulses of electromagnetic radiation may be repeated at any suitablefrequency, according to the needs of a user or computer-implementedprogram for a certain imaging procedure. For example, in an embodimentwhere surface tracking data generated based on the grid array 2306 isprovided to a computer-implemented program for use in, for example, arobotic surgical procedure, the grid array 2306 may be pulsed morefrequently than if the surface tracking data is provided to a user whois visualizing the scene during the imaging procedure. In such anembodiment where the surface tracking data is used for a roboticsurgical procedure, the surface tracking data may need to be updatedmore frequently or may need to be exceedingly accurate such that thecomputer-implemented program may execute the robotic surgical procedurewith precision and accuracy.

In an embodiment, the system 2300 is configured to generate an occupancygrid map comprising an array of cells divided into grids. The system2300 is configured to store height values for each of the respectivegrid cells to determine a surface mapping of a three-dimensionalenvironment in a light deficient environment.

FIGS. 24A and 24B illustrate a perspective view and a side view,respectively, of an implementation of a monolithic sensor 2400 having aplurality of pixel arrays for producing a three-dimensional image inaccordance with the teachings and principles of the disclosure. Such animplementation may be desirable for three-dimensional image capture,wherein the two-pixel arrays 2402 and 2404 may be offset during use. Inanother implementation, a first pixel array 2402 and a second pixelarray 2404 may be dedicated to receiving a predetermined range of wavelengths of electromagnetic radiation, wherein the first pixel array isdedicated to a different range of wavelength electromagnetic radiationthan the second pixel array.

FIGS. 25A and 25B illustrate a perspective view and a side view,respectively, of an implementation of an imaging sensor 2500 built on aplurality of substrates. As illustrated, a plurality of pixel columns2504 forming the pixel array are located on the first substrate 2502 anda plurality of circuit columns 2508 are located on a second substrate2506. Also illustrated in the figure are the electrical connection andcommunication between one column of pixels to its associated orcorresponding column of circuitry. In one implementation, an imagesensor, which might otherwise be manufactured with its pixel array andsupporting circuitry on a single, monolithic substrate/chip, may havethe pixel array separated from all or a majority of the supportingcircuitry. The disclosure may use at least two substrates/chips, whichwill be stacked together using three-dimensional stacking technology.The first 2502 of the two substrates/chips may be processed using animage CMOS process. The first substrate/chip 2502 may be comprisedeither of a pixel array exclusively or a pixel array surrounded bylimited circuitry. The second or subsequent substrate/chip 2506 may beprocessed using any process and does not have to be from an image CMOSprocess. The second substrate/chip 2506 may be, but is not limited to, ahighly dense digital process to integrate a variety and number offunctions in a very limited space or area on the substrate/chip, or amixed-mode or analog process to integrate for example precise analogfunctions, or a RF process to implement wireless capability, or MEMS(Micro-Electro-Mechanical Systems) to integrate MEMS devices. The imageCMOS substrate/chip 2502 may be stacked with the second or subsequentsubstrate/chip 2506 using any three-dimensional technique. The secondsubstrate/chip 2506 may support most, or a majority, of the circuitrythat would have otherwise been implemented in the first image CMOS chip2502 (if implemented on a monolithic substrate/chip) as peripheralcircuits and therefore have increased the overall system area whilekeeping the pixel array size constant and optimized to the fullestextent possible. The electrical connection between the twosubstrates/chips may be done through interconnects, which may be wirebonds, bump and/or TSV (Through Silicon Via).

FIGS. 26A and 26B illustrate a perspective view and a side view,respectively, of an implementation of an imaging sensor 2600 having aplurality of pixel arrays for producing a three-dimensional image. Thethree-dimensional image sensor may be built on a plurality of substratesand may comprise the plurality of pixel arrays and other associatedcircuitry, wherein a plurality of pixel columns 2602 a forming the firstpixel array and a plurality of pixel columns 2602 b forming a secondpixel array are located on respective substrates 2608 a and 2608 b,respectively, and a plurality of circuit columns 2606 a and 2606 b arelocated on a separate substrate 2604. Also illustrated are theelectrical connections and communications between columns of pixels toassociated or corresponding column of circuitry.

The plurality of pixel arrays may sense information simultaneously andthe information from the plurality of pixel arrays may be combined togenerate a three-dimensional image. In an embodiment, an endoscopicimaging system includes two or more pixel arrays that can be deployed togenerate three-dimensional imaging. The endoscopic imaging system mayinclude an emitter for emitting pulses of electromagnetic radiationduring a blanking period of the pixel arrays. The pixel arrays may besynced such that the optical black pixels are read (i.e., the blankingperiod occurs) at the same time for the two or more pixel arrays. Theemitter may emit pulses of electromagnetic radiation for charging eachof the two or more pixel arrays. The two or more pixel arrays may readtheir respective charged pixels at the same time such that the readoutperiods for the two or more pixel arrays occur at the same time or atapproximately the same time. In an embodiment, the endoscopic imagingsystem includes multiple emitters that are each individual synced withone or more pixel arrays of a plurality of pixel arrays. Informationfrom a plurality of pixel arrays may be combined to generatethree-dimensional image frames and video streams.

It will be appreciated that the teachings and principles of thedisclosure may be used in a reusable device platform, a limited usedevice platform, a re-posable use device platform, or a singleuse/disposable device platform without departing from the scope of thedisclosure. It will be appreciated that in a re-usable device platforman end-user is responsible for cleaning and sterilization of the device.In a limited use device platform, the device can be used for somespecified amount of times before becoming inoperable. Typical new deviceis delivered sterile with additional uses requiring the end-user toclean and sterilize before additional uses. In a re-posable use deviceplatform, a third-party may reprocess the device (e.g., cleans, packagesand sterilizes) a single-use device for additional uses at a lower costthan a new unit. In a single use/disposable device platform a device isprovided sterile to the operating room and used only once before beingdisposed of.

EXAMPLES

The following examples pertain to preferred features of furtherembodiments:

Example 1 is a system. The system includes an emitter for emittingpulses of electromagnetic radiation. The system includes an image sensorcomprising a pixel array for sensing reflected electromagneticradiation, wherein pixel data is read out during a readout period of theimage sensor. The system includes a controller in electroniccommunication with the emitter and the image sensor. The system includesa driver for driving emissions by the emitter based at least in part ona jitter specification, wherein the jitter specification comprisesunpredictable time variation experienced by a component of the system.The system is such that at least a portion of the pulses ofelectromagnetic radiation emitted by the emitter comprises a lasermapping pattern.

Example 2 is a system as in Example 1, wherein: the driver is acomponent of the controller; the controller is configured to timesequencing of the image sensor and the emitter such that the pulses ofelectromagnetic radiation emitted by the emitter are emitted during ablanking period of the image sensor; and the controller is configured tocause the driver to drive the emitter to emit a pulse of electromagneticradiation between readout periods of the image sensor.

Example 3 is a system as in any of Examples 1-2, wherein the jitterspecification comprises one or both of: a time delay between a controlsignal causing the emitter to emit a pulse of electromagnetic radiation;and a time delay between a control signal turning off the emitter andending a pulse of electromagnetic radiation; wherein one or both of thetime delays is less than or equal to about 10% to about 25% the durationof the readout period of the image sensor.

Example 4 is a system as in any of Examples 1-3, wherein a time durationfor reading out pixel data for a single pixel of the pixel array is apixel readout length, and wherein the one or both time delays is lessthan or equal to the pixel readout length.

Example 5 is a system as in any of Examples 1-4, wherein the one or bothtime delays is one of: about 1 microsecond or less; or about 50nanoseconds or less.

Example 6 is a system as in any of Examples 1-5, wherein the readoutperiod of the image sensor: begins after reading out an initial row oran initial column of optical black pixels of the pixel array; and endsafter reading out a final row or a final column of optical black pixelsof the pixel array.

Example 7 is a system as in any of Examples 1-6, wherein the emittercomprises: a first laser bundle for emitting a first wavelength ofelectromagnetic radiation at a first dichroic mirror, wherein the firstdichroic mirror reflects the electromagnetic radiation of the firstwavelength to a plurality of optical fibers; and a second laser bundlefor emitting a second wavelength of electromagnetic radiation at asecond dichroic mirror, wherein the second dichroic mirror reflects theelectromagnetic radiation of the second wavelength to the plurality ofoptical fibers; wherein the first dichroic mirror is transparent to theelectromagnetic radiation of the second wavelength.

Example 8 is a system as in any of Examples 1-7, further comprising: anoptical fiber bundle, wherein the emitter emits the pulses ofelectromagnetic radiation into the optical fiber bundle; wherein theoptical fiber bundle comprises plastic fibers and glass fibers, whereinthe plastic fibers and glass fibers are coupled near an output of theoptical fiber bundle.

Example 9 is a system as in any of Examples 1-8, further comprising: anoptical fiber bundle, wherein the emitter emits the pulses ofelectromagnetic radiation into the optical fiber bundle; and a diffuserdisposed at a distal end of the optical fiber bundle; wherein thediffuser provides a light cone having an angle between 110 degrees and120 degrees or an angle between 70 degrees and 80 degrees.

Example 10 is a system as in any of Examples 1-9, wherein: the imagesensor is configured to generate and read out pixel data for an exposureframe based on the reflected electromagnetic radiation; and the pixelarray comprises a plurality of lines for reading out pixel data; and thereadout period is the time duration for reading out all the plurality oflines of the pixel array.

Example 11 is a system as in any of Examples 1-10, wherein the imagesensor is configured to generate a plurality of exposure frames, whereineach of the plurality of exposure frames corresponds to one or morepulses of electromagnetic radiation emitted by the emitter.

Example 12 is a system as in any of Examples 1-11, wherein the pixelarray of the image sensor senses reflected electromagnetic radiation togenerate the plurality of exposure frames during a readout period of thepixel array, wherein the readout period comprises a duration of timewhen active pixels in the pixel array are read.

Example 13 is a system as in any of Examples 1-12, wherein at least aportion of the pulses of electromagnetic radiation emitted by theemitter is a hyperspectral wavelength for eliciting a spectral response,wherein the hyperspectral wavelength comprises one or more of:electromagnetic radiation having the wavelength from about 513 nm toabout 545 nm and electromagnetic radiation having the wavelength fromabout 900 nm to about 1000 nm; or he electromagnetic radiation havingthe wavelength from about 565 nm to about 585 nm and electromagneticradiation having the wavelength from about 900 nm to about 1000 nm.

Example 14 is a system as in any of Examples 1-13, wherein the emitteris configured to emit, during a pulse duration, a plurality ofsub-pulses of electromagnetic radiation having a sub-duration shorterthan the pulse duration.

Example 15 is a system as in any of Examples 1-14, wherein one or moreof the pulses of electromagnetic radiation emitted by the emittercomprises electromagnetic radiation emitted at two or more wavelengthssimultaneously as a single pulse or a single sub-pulse.

Example 16 is a system as in any of Examples 1-15, wherein at least aportion of the pulses of electromagnetic radiation emitted by theemitter is a hyperspectral emission that results in a hyperspectralexposure frame created by the image sensor, and wherein the controlleris configured to provide the hyperspectral exposure frame to acorresponding hyperspectral system that determines a location of acritical tissue structure within a scene based on the hyperspectralexposure frame.

Example 17 is a system as in any of Examples 1-16, wherein thehyperspectral emission comprises: electromagnetic radiation having thewavelength from about 513 nm to about 545 nm and electromagneticradiation having the wavelength from about 900 nm to about 1000 nm; orelectromagnetic radiation having the wavelength from about 565 nm toabout 585 nm and electromagnetic radiation having the wavelength fromabout 900 nm to about 1000 nm.

Example 18 is a system as in any of Examples 1-17, wherein thecontroller is further configured to: receive the location of thecritical tissue structure from the corresponding hyperspectral system;generate an overlay frame comprising the location of the critical tissuestructure; and combine the overlay frame with a color image framedepicting the scene to indicate the location of the critical tissuestructure within the scene.

Example 19 is a system as in any of Examples 1-18, wherein sensing thereflected electromagnetic radiation by the pixel array comprisesgenerating a laser mapping exposure frame by sensing reflectedelectromagnetic radiation resulting from the emitter pulsing the lasermapping pattern, and wherein the controller is further configured to:provide the laser mapping exposure frame to a corresponding lasermapping system that determines a topology of the scene and/or dimensionsof one or more objects within the scene; provide the location of thecritical tissue structure to the corresponding laser mapping system; andreceive a topology and/or dimension of the critical tissue structurefrom the corresponding laser mapping system.

Example 20 is a system as in any of Examples 1-19, wherein the criticalstructure comprises one or more of a nerve, a ureter, a blood vessel, anartery, a blood flow, or a tumor.

Example 21 is a system as in any of Examples 1-20, wherein at least aportion of the pulses of electromagnetic radiation emitted by theemitter is a fluorescence excitation wavelength that results in afluorescence exposure frame created by the image sensor, and wherein thecontroller is configured to provide the fluorescence exposure frame to acorresponding fluorescence system that determines a location of acritical tissue structure within a scene based on the fluorescenceexposure frame.

Example 22 is a system as in any of Examples 1-21, wherein thefluorescence excitation emission comprises one or more of: theelectromagnetic radiation having a wavelength from about 770 nm to about790 nm; or the electromagnetic radiation having the wavelength fromabout 795 nm to about 815 nm.

Example 23 is a system as in any of Examples 1-22, wherein thecontroller is further configured to: receive the location of thecritical tissue structure from the corresponding fluorescence system;generate an overlay frame comprising the location of the critical tissuestructure; and combine the overlay frame with a color image framedepicting the scene to indicate the location of the critical tissuestructure within the scene.

Example 24 is a system as in any of Examples 1-23, wherein sensing thereflected electromagnetic radiation by the pixel array comprisesgenerating a laser mapping exposure frame by sensing reflectedelectromagnetic radiation resulting from the emitter pulsing the lasermapping pattern, and wherein the controller is further configured to:provide the laser mapping exposure frame to a corresponding lasermapping system that determines a topology of the scene and/or dimensionsof one or more objects within the scene; provide the location of thecritical tissue structure to the corresponding laser mapping system; andreceive a topology and/or dimension of the critical tissue structurefrom the corresponding laser mapping system.

Example 25 is a system as in any of Examples 1-24, wherein the criticalstructure comprises one or more of a nerve, a ureter, a blood vessel, anartery, a blood flow, or a tumor.

Example 26 is a system as in any of Examples 1-25, wherein thecontroller is configured to synchronize timing of the pulses ofelectromagnetic radiation during a blanking period of the image sensor,wherein the blanking period corresponds to a time between a readout of alast row of active pixels in the pixel array and a beginning of a nextsubsequent readout of active pixels in the pixel array.

Example 27 is a system as in any of Examples 1-26, wherein two or morepulses of electromagnetic radiation emitted by the emitter result in twoor more instances of reflected electromagnetic radiation that are sensedby the pixel array to generate two or more exposure frames that arecombined to form an image frame.

Example 28 is a system as in any of Examples 1-27, wherein the imagesensor comprises a first image sensor and a second image sensor suchthat the image sensor can generate a three-dimensional image.

Example 29 is a system as in any of Examples 1-28, wherein the emitteris configured to emit a sequence of pulses of electromagnetic radiationrepeatedly sufficient for generating a video stream comprising aplurality of image frames, wherein each image frame in the video streamcomprises data from a plurality of exposure frames, and wherein each ofthe exposure frames corresponds to a pulse of electromagnetic radiation.

Example 30 is a system as in any of Examples 1-29, wherein the pulses ofelectromagnetic radiation are emitted in a pattern of varyingwavelengths of electromagnetic radiation, and wherein the emitterrepeats the pattern of varying wavelengths of electromagnetic radiation.

Example 31 is a system as in any of Examples 1-30, wherein at least aportion of the pulses of electromagnetic radiation comprise a redwavelength, a green wavelength, a blue wavelength, and a hyperspectralwavelength such that reflected electromagnetic radiation sensed by thepixel array corresponding to each of the red wavelength, the greenwavelength, the blue wavelength, and the hyperspectral wavelength can beprocessed to generate a Red-Green-Blue (RGB) image frame comprising anoverlay of hyperspectral imaging data, wherein the hyperspectralwavelength of electromagnetic radiation comprises: the electromagneticradiation having the wavelength from about 513 nm to about 545 nm andthe electromagnetic radiation having the wavelength from about 900 nm toabout 1000 nm; or the electromagnetic radiation having the wavelengthfrom about 565 nm to about 585 nm and the electromagnetic radiationhaving the wavelength from about 900 nm to about 1000 nm.

Example 32 is a system as in any of Examples 1-31, wherein at least aportion of the pulses of electromagnetic radiation comprise a luminanceemission, a red chrominance emission, a blue chrominance emission, and ahyperspectral emission such that reflected electromagnetic radiationsensed by the pixel array corresponding to each of the luminanceemission, the red chrominance emission, the blue chrominance emission,and the hyperspectral emission can be processed to generate a YCbCrimage frame comprising an overlay of hyperspectral imaging data, whereinthe hyperspectral emission of electromagnetic radiation comprises: theelectromagnetic radiation having the wavelength from about 513 nm toabout 545 nm and the electromagnetic radiation having the wavelengthfrom about 900 nm to about 1000 nm; or the electromagnetic radiationhaving the wavelength from about 565 nm to about 585 nm and theelectromagnetic radiation having the wavelength from about 900 nm toabout 1000 nm.

Example 33 is a system as in any of Examples 1-32, wherein at least aportion of the pulses of electromagnetic radiation emitted by theemitter is a fluorescence excitation wavelength for fluorescing areagent, wherein the fluorescence excitation wavelength comprises one ormore of: the electromagnetic radiation having the wavelength from about770 nm to about 790 nm; or the electromagnetic radiation having thewavelength from about 795 nm to about 815 nm.

Example 34 is a system as in any of Examples 1-33, wherein at least aportion of the pulses of electromagnetic radiation comprise a redwavelength, a green wavelength, a blue wavelength, and a fluorescenceexcitation wavelength such that reflected electromagnetic radiationsensed by the pixel array corresponding to each of the red wavelength,the green wavelength, the blue wavelength, and the fluorescenceexcitation wavelength can be processed to generate a Red-Green-B lue(RGB) image frame comprising an overlay of fluorescence imaging data,wherein the fluorescence wavelength of electromagnetic radiationcomprises: electromagnetic radiation having the wavelength from about770 nm to about 790 nm and/or electromagnetic radiation having thewavelength from about 795 nm to about 815 nm.

Example 35 is a system as in any of Examples 1-34, wherein at least aportion of the pulses of electromagnetic radiation comprise a luminanceemission, a red chrominance emission, a blue chrominance emission, and afluorescence excitation emission such that reflected electromagneticradiation sensed by the pixel array corresponding to each of theluminance emission, the red chrominance emission, the blue chrominanceemission, and the fluorescence excitation emission can be processed togenerate a YCbCr image frame comprising an overlay of fluorescenceimaging data, wherein the fluorescence wavelength of electromagneticradiation comprises: electromagnetic radiation having the wavelengthfrom about 770 nm to about 790 nm and/or electromagnetic radiationhaving the wavelength from about 795 nm to about 815 nm.

Example 36 is a system as in any of Examples 1-35, further comprising asingle optical fiber, wherein the emitter emits the pulses ofelectromagnetic radiation into the single optical fiber.

Example 37 is a system as in any of Examples 1-36, wherein the pixelarray is a two-dimensional array of independent pixels each capable ofdetecting any wavelength of electromagnetic radiation.

Example 38 is a system as in any of Examples 1-37, further comprising afilter that filters electromagnetic radiation having a wavelength fromabout 770 nm to about 790 nm.

Example 39 is a system as in any of Examples 1-38, further comprising afilter that filters electromagnetic radiation having a wavelength fromabout 795 nm to about 815 nm.

Example 40 is a system as in any of Examples 1-39, wherein the imagesensor is CMOS image sensor.

Example 41 is a system as in any of Examples 1-40, wherein sensingreflected electromagnetic radiation by the pixel array comprisesgenerating a laser mapping exposure frame by sensing reflectedelectromagnetic radiation resulting from the emitter pulsing the lasermapping pattern, wherein the laser mapping exposure frame comprisesinformation for determining real time measurements comprising one ormore of: a distance from an endoscope to an object; an angle between anendoscope and the object; or surface topology information about theobject.

Example 42 is a system as in any of Examples 1-41, wherein the lasermapping exposure frame comprises information for determining the realtime measurements to an accuracy of less than 10 centimeters.

Example 43 is a system as in any of Examples 1-42, wherein the lasermapping exposure frame comprises information for determining the realtime measurements to an accuracy of less than one millimeter.

Example 44 is a system as in any of Examples 1-43, wherein at least aportion of the pulses of electromagnetic radiation emitted by theemitter comprises a plurality of tool-specific laser mapping patternsfor each of a plurality of tools within a scene.

Example 45 is a system as in any of Examples 1-44, wherein the lasermapping pattern emitted by the emitter comprises a first output and asecond output that are independent from one another, wherein the firstoutput is for light illumination and the second output is for tooltracking.

Example 46 is a system as in any of Examples 1-45, wherein the jitterspecification is from 5% to 25% the duration of a pulse ofelectromagnetic radiation emitted by the emitter.

Example 47 is a system as in any of Examples 1-46, wherein the jitterspecification is less than or equal to about 10% to about 25% a durationof the readout period of the image sensor.

Example 48 is a system as in any of Examples 1-47, wherein the jitterspecification represents the unpredictable time variation experienced bythe emitter.

Example 49 is a system as in any of Examples 1-48, wherein the jitterspecification represents the unpredictable time variation experienced bythe image sensor.

Example 50 is a system as in any of Examples 1-49, wherein the jitterspecification represents the unpredictable time variation experienced bythe controller.

Example 51 is a system as in any of Examples 1-50, wherein the jitterspecification represents the unpredictable time variation experienced bythe driver.

Example 52 is a system as in any of Examples 1-51, wherein the jitterspecification represents the unpredictable time variation experienced byone or more of the emitter, the image sensor, the controller, or thedriver.

Example 53 is a system as in any of Examples 1-52, wherein thecontroller comprises one or more processors configurable for executinginstructions stored in non-transitory computer readable storage medium,the instructions comprising: determining whether the jitterspecification has a duration longer than a threshold amount; and inresponse to determining the jitter specification is longer than thethreshold amount, limiting a time duration of the pules ofelectromagnetic radiation emitted by the emitter such that a pulse ofelectromagnetic radiation does not overlap the readout period of theimage sensor.

Example 54 is a system as in any of Examples 1-53, wherein thecontroller comprises one or more processors configurable for executinginstructions stored in non-transitory computer readable storage medium,the instructions comprising: determining whether the jitterspecification has a duration shorter than a threshold amount; and inresponse to determining the jitter specification is shorter than thethreshold amount, causing a duration of the pulses of electromagneticradiation emitted by the emitter to remain unchanged.

Example 55 is a system as in any of Examples 1-54, wherein the thresholdamount is 1 microsecond.

Example 56 is a system as in any of Examples 1-55, wherein the thresholdamount is 50 nanoseconds.

Example 57 is a system as in any of Examples 1-56, wherein the thresholdamount requires that the jitter specification has a duration less thanthe time it takes for the image sensor to read out one line of the pixelarray.

Example 58 is a system as in any of Examples 1-57, wherein the thresholdamount requires that the jitter specification has a duration less thanthe time it takes for the image sensor to read out one pixel of thepixel array.

Example 59 is a system as in any of Examples 1-58, wherein the thresholdamount requires that the jitter specification has a duration less thanor equal to 10% to 25% of the time it takes for the image sensor to readout all active pixels in the pixel array.

Example 60 is a system as in any of Examples 1-59, further comprising acamera control unit (CCU) in electrical communication with thecontroller, wherein the CCU provides signals to the controller to avoidoverlapping a pulse of electromagnetic radiation with the readout periodof the image sensor.

Example 61 is a system as in any of Examples 1-60, wherein the jitterspecification is less than or equal to one or more of: one microsecond;fifty nanoseconds; a duration of time required for the image sensor toread out one line of the pixel array; a duration of time required forthe image sensor to read out one pixel of the pixel array; 10% to 25% aduration of time required for the image sensor to read out all activepixels in the pixel array; or 10% to 25% a duration of the readoutperiod of the image sensor.

Example 62 is a system as in any of Examples 1-61, wherein the jitterspecification represents variation in a constant, predictable delay forinitiating and/or discontinuing an emission of one or more of the pulsesof electromagnetic radiation.

Example 63 is a system as in any of Examples 1-62, wherein the jitterspecification represents jitter experienced by one or more of theemitter, the controller, or the driver.

It will be appreciated that various features disclosed herein providesignificant advantages and advancements in the art. The following claimsare exemplary of some of those features.

In the foregoing Detailed Description of the Disclosure, variousfeatures of the disclosure are grouped together in a single embodimentfor the purpose of streamlining the disclosure. This method ofdisclosure is not to be interpreted as reflecting an intention that theclaimed disclosure requires more features than are expressly recited ineach claim. Rather, inventive aspects lie in less than all features of asingle foregoing disclosed embodiment.

It is to be understood that any features of the above-describedarrangements, examples, and embodiments may be combined in a singleembodiment comprising a combination of features taken from any of thedisclosed arrangements, examples, and embodiments.

It is to be understood that the above-described arrangements are onlyillustrative of the application of the principles of the disclosure.Numerous modifications and alternative arrangements may be devised bythose skilled in the art without departing from the spirit and scope ofthe disclosure and the appended claims are intended to cover suchmodifications and arrangements.

Thus, while the disclosure has been shown in the drawings and describedabove with particularity and detail, it will be apparent to those ofordinary skill in the art that numerous modifications, including, butnot limited to, variations in size, materials, shape, form, function andmanner of operation, assembly and use may be made without departing fromthe principles and concepts set forth herein.

Further, where appropriate, functions described herein can be performedin one or more of: hardware, software, firmware, digital components, oranalog components. For example, one or more application specificintegrated circuits (ASICs) or field programmable gate arrays (FPGAs)can be programmed to carry out one or more of the systems and proceduresdescribed herein. Certain terms are used throughout the followingdescription and claims to refer to particular system components. As oneskilled in the art will appreciate, components may be referred to bydifferent names. This document does not intend to distinguish betweencomponents that differ in name, but not function.

The foregoing description has been presented for the purposes ofillustration and description. It is not intended to be exhaustive or tolimit the disclosure to the precise form disclosed. Many modificationsand variations are possible in light of the above teaching. Further, itshould be noted that any or all the aforementioned alternateimplementations may be used in any combination desired to formadditional hybrid implementations of the disclosure.

Further, although specific implementations of the disclosure have beendescribed and illustrated, the disclosure is not to be limited to thespecific forms or arrangements of parts so described and illustrated.The scope of the disclosure is to be defined by the claims appendedhereto, any future claims submitted here and in different applications,and their equivalents.

What is claimed is:
 1. A system comprising: an emitter for emittingpulses of electromagnetic radiation; an image sensor comprising a pixelarray for sensing reflected electromagnetic radiation, wherein pixeldata is read out during a readout period of the image sensor; acontroller in electronic communication with the emitter and the imagesensor; and a driver for driving emissions by the emitter based at leastin part on a jitter specification, wherein the jitter specificationcomprises unpredictable time variation experienced by a component of thesystem; wherein at least a portion of the pulses of electromagneticradiation emitted by the emitter comprises a laser mapping pattern. 2.The system of claim 1, wherein the jitter specification represents oneor more of: variation in a predictable delay for initiating and/ordiscontinuing an emission of the pulses of electromagnetic radiation; orjitter experienced by one or more of the emitter, the controller, or thedriver.
 3. The system of claim 1, wherein: the driver is a component ofthe controller; the controller is configured to control sequencing ofthe image sensor and the emitter such that the pulses of electromagneticradiation emitted by the emitter are emitted during a blanking period ofthe image sensor; and the controller is configured to cause the driverto drive the emitter to emit a pulse of electromagnetic radiationbetween readout periods of the image sensor.
 4. The system of claim 1,wherein the jitter specification comprises one or both of: a time delaybetween a control signal causing the emitter to emit a pulse ofelectromagnetic radiation; and a time delay between a control signalturning off the emitter and ending a pulse of electromagnetic radiation;wherein one or both of the time delays is less than or equal to about10% to about 25% the duration of the readout period of the image sensor.5. The system of claim 4, wherein a time duration for reading out pixeldata for a single pixel of the pixel array is a pixel readout length,and wherein the one or both time delays is less than or equal to thepixel readout length.
 6. The system of claim 1, wherein the controllercomprises one or more processors for executing instructions stored innon-transitory computer readable storage medium, the instructionscomprising: determining whether the jitter specification has a durationexceeding a threshold; and in response to the jitter specificationhaving a duration exceeding the threshold, causing the driver to limit atime duration of each of the pulses of electromagnetic radiation emittedby the emitter such that a pulse of electromagnetic radiation does notoverlap the readout period of the image sensor.
 7. The system of claim6, wherein the jitter specification does not have a duration exceedingthe threshold if the jitter specification has a duration less than orequal to one or more of: one microsecond; fifty nanoseconds; a durationof time required for the image sensor to read out one line of the pixelarray; a duration of time required for the image sensor to read out onepixel of the pixel array; 10% to 25% a duration of time required for theimage sensor to read out all active pixels in the pixel array; or 10% to25% a duration of the readout period of the image sensor.
 8. The systemof claim 1, wherein the readout period of the image sensor: begins afterreading out an initial row or an initial column of optical black pixelsof the pixel array; and ends after reading out a final row or a finalcolumn of optical black pixels of the pixel array.
 9. The system ofclaim 1, wherein: the image sensor is configured to generate and readout pixel data for an exposure frame based on the reflectedelectromagnetic radiation; the pixel array comprises a plurality oflines for reading out active pixel data; and the readout period is thetime duration for reading out all the plurality of lines for readout outthe active pixel data.
 10. The system of claim 1, further comprising acamera control unit (CCU) in communication with the controller, whereinthe CCU provides signals to the controller to avoid overlapping a pulseof electromagnetic radiation with the readout period of the imagesensor.
 11. The system of claim 1, wherein the jitter specificationrepresents the unpredictable time variation experienced by the emitter.12. The system of claim 1, wherein the jitter specification is less thanor equal to one or more of: one microsecond; fifty nanoseconds; aduration of time required for the image sensor to read out one line ofthe pixel array; a duration of time required for the image sensor toread out one pixel of the pixel array; 10% to 25% a duration of timerequired for the image sensor to read out all active pixels in the pixelarray; or 10% to 25% a duration of the readout period of the imagesensor.
 13. The system of claim 1, wherein the image sensor isconfigured to generate a plurality of exposure frames, wherein each ofthe plurality of exposure frames corresponds to one or more pulses ofelectromagnetic radiation emitted by the emitter.
 14. The system ofclaim 1, wherein the pixel array of the image sensor senses reflectedelectromagnetic radiation to generate the plurality of exposure framesduring the readout period of the pixel array, wherein the readout periodcomprises a duration of time when active pixels in the pixel array areread.
 15. The system of claim 1, wherein the emitter is configured toemit, during a pulse duration, a plurality of sub-pulses ofelectromagnetic radiation having a sub-duration shorter than the pulseduration.
 16. The system of claim 1, wherein one or more of the pulsesof electromagnetic radiation emitted by the emitter compriseselectromagnetic radiation emitted at two or more wavelengthssimultaneously as a single pulse or a single sub-pulse.
 17. The systemof claim 1, wherein at least a portion of the pulses of electromagneticradiation emitted by the emitter is a fluorescence excitation emissionthat results in a fluorescence exposure frame created by the imagesensor, and wherein the controller is configured to provide thefluorescence exposure frame to a corresponding fluorescence system thatdetermines a location of a critical tissue structure within a scenebased on the fluorescence exposure frame.
 18. The system of claim 17,wherein the fluorescence excitation emission comprises one or more of:electromagnetic radiation having a wavelength from about 770 nm to about790 nm; or electromagnetic radiation having the wavelength from about795 nm to about 815 nm.
 19. The system of claim 18, wherein thecontroller is further configured to: receive the location of thecritical tissue structure from the corresponding fluorescence system;generate an overlay frame comprising the location of the critical tissuestructure; and combine the overlay frame with a color image framedepicting the scene to indicate the location of the critical tissuestructure within the scene.
 20. The system of claim 19, wherein sensingthe reflected electromagnetic radiation by the pixel array comprisesgenerating a laser mapping exposure frame by sensing reflectedelectromagnetic radiation resulting from the emitter pulsing the lasermapping pattern, and wherein the controller is configured to: providethe laser mapping exposure frame to a corresponding laser mapping systemthat determines a topology of the scene and/or dimensions of one or moreobjects within the scene; provide the location of the critical tissuestructure to the corresponding laser mapping system; and receive atopology and/or dimension of the critical tissue structure from thecorresponding laser mapping system.
 21. The system of claim 20, whereinthe critical structure comprises one or more of a nerve, a ureter, ablood vessel, an artery, a blood flow, or a tumor.
 22. The system ofclaim 1, wherein the controller is configured to synchronize timing ofthe pulses of electromagnetic radiation during a blanking period of theimage sensor, wherein the blanking period corresponds to a time betweena readout of a last row of active pixels in the pixel array and abeginning of a next subsequent readout of active pixels in the pixelarray.
 23. The system of claim 1, wherein two or more pulses ofelectromagnetic radiation emitted by the emitter result in two or moreinstances of reflected electromagnetic radiation that are sensed by thepixel array to generate two or more exposure frames that are combined toform an image frame.
 24. The system of claim 1, wherein the emitter isconfigured to emit a sequence of pulses of electromagnetic radiationrepeatedly sufficient for generating a video stream comprising aplurality of image frames, wherein each image frame in the video streamcomprises data from a plurality of exposure frames, and wherein each ofthe exposure frames corresponds to one or more pulses of electromagneticradiation.
 25. The system of claim 1, wherein the pulses ofelectromagnetic radiation are emitted in a pattern of varyingwavelengths of electromagnetic radiation, and wherein the emitterrepeats the pattern of varying wavelengths of electromagnetic radiation.26. The system of claim 1, wherein at least a portion of the pulses ofelectromagnetic radiation comprise a red emission, a green emission, ablue emission, and a laser mapping emission such that reflectedelectromagnetic radiation sensed by the pixel array corresponding toeach of the red emission, the green emission, the blue emission, and thelaser mapping emission can be processed to generate a color RGB imageframe comprising an overlay of laser mapping data.
 27. The system ofclaim 1, wherein at least a portion of the pulses of electromagneticradiation comprise a luminance emission, a red chrominance emission, ablue chrominance emission, and a laser mapping emission such thatreflected electromagnetic radiation sensed by the pixel arraycorresponding to each of the luminance emission, the red chrominanceemission, the blue chrominance emission, and the laser mapping emissioncan be processed to generate a YCbCr image frame comprising an overlayof laser mapping data.
 28. The system of claim 1, wherein sensingreflected electromagnetic radiation by the pixel array comprisesgenerating a laser mapping exposure frame by sensing reflectedelectromagnetic radiation resulting from the emitter pulsing the lasermapping pattern, wherein the laser mapping exposure frame comprisesinformation for determining real time measurements comprising one ormore of: a distance from an endoscope to an object; an angle between anendoscope and the object; or surface topology information about theobject.
 29. The system of claim 28, wherein the laser mapping exposureframe comprises information for determining the real time measurementsto an accuracy of less than 10 centimeters.
 30. The system of claim 28,wherein the laser mapping exposure frame comprises information fordetermining the real time measurements to an accuracy of less than onemillimeter.
 31. The system of claim 1, wherein at least a portion of thepulses of electromagnetic radiation emitted by the emitter comprises aplurality of tool-specific laser mapping patterns for each of aplurality of tools within a scene.
 32. The system of claim 1, whereinthe laser mapping pattern emitted by the emitter comprises a firstoutput and a second output that are independent from one another,wherein the first output is for light illumination and the second outputis for tool tracking.
 33. The system of claim 1, wherein at least aportion of the pulses of electromagnetic radiation emitted by theemitter is a hyperspectral emission that results in a hyperspectralexposure frame created by the image sensor, and wherein the controlleris configured to provide the hyperspectral exposure frame to acorresponding hyperspectral system that determines a location of acritical tissue structure within a scene based on the hyperspectralexposure frame.
 34. The system of claim 33, wherein the hyperspectralemission comprises: electromagnetic radiation having the wavelength fromabout 513 nm to about 545 nm and electromagnetic radiation having thewavelength from about 900 nm to about 1000 nm; or electromagneticradiation having the wavelength from about 565 nm to about 585 nm andelectromagnetic radiation having the wavelength from about 900 nm toabout 1000 nm.
 35. The system of claim 34, wherein the controller isfurther configured to: receive the location of the critical tissuestructure from the corresponding hyperspectral system; generate anoverlay frame comprising the location of the critical tissue structure;and combine the overlay frame with a color image frame depicting thescene to indicate the location of the critical tissue structure withinthe scene.
 36. The system of claim 35, wherein sensing the reflectedelectromagnetic radiation by the pixel array comprises generating alaser mapping exposure frame by sensing reflected electromagneticradiation resulting from the emitter pulsing the laser mapping pattern,and wherein the controller is further configured to: provide the lasermapping exposure frame to a corresponding laser mapping system thatdetermines a topology of the scene and/or dimensions of one or moreobjects within the scene; provide the location of the critical tissuestructure to the corresponding laser mapping system; and receive atopology and/or dimension of the critical tissue structure from thecorresponding laser mapping system.
 37. The system of claim 36, whereinthe critical structure comprises one or more of a nerve, a ureter, ablood vessel, an artery, a blood flow, or a tumor.